ISMD23E2 Series Stepper Motor + Drive + Controller with Integral 2-Port Ethernet Switch

Transcription

1 ISMD23E2 Series Stepper Motor + Drive + Controller with Integral 2-Port Ethernet Switch User s Manual AMCI Motion Control for IDEC FC6A Series MicroSmart 940-0I151

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3 TABLE OF CONTENTS About this Manual Audience... 7 Applicable Units... 7 Navigating this Manual... 7 Manual Conventions... 7 Trademarks... 8 Revision Record... 8 Revision History... 8 Manual Layout... 8 Reference: ISMD23E2 Specifications Introduction... 9 The ISMD23E2 Family... 9 Part Numbering System... 9 General Functionality... 9 Encoder Functionality Specifications Controller Functionality Drive Functionality Idle Current Reduction Optional Encoder Incremental Encoder Absolute Multi-turn Encoder Additional Notes on Stall Detection Available Discrete Inputs Home Input CW Limit Switch or CCW Limit Switch Start Indexer Move Input Emergency Stop Input Stop Jog or Registration Move Input Capture Encoder Position Input General Purpose Input Status LED s Module Status LED Power Up Behavior Network Status (NS) LED ISMD23E2 Connectors Ethernet Connectors Input Connector Torque and Power Curves Power Supply Sizing Regeneration (Back EMF) Effects.. 17 Compatible Connectors and Cordsets Ethernet Connector Ethernet Cordset Power & Digital Input Connector Power & Digital Input Cordset Reference: Motion Control Definitions Units of Measure Motor Position Home Position Valid and Invalid Positions Count Direction Starting Speed Target Position Relative Coordinates Absolute Coordinates Definition of Acceleration Types Linear Acceleration Triangular S-Curve Acceleration Trapezoidal S-Curve Acceleration.. 21 A Simple Move Controlled and Immediate Stops Host Control Hardware Control Basic Move Types Relative Move Controlled Stops Immediate Stops Absolute Move Controlled Stops Immediate Stops CW/CCW Jog Move Controlled Stops Immediate Stops CW/CCW Registration Move Controlled Stops Immediate Stops Indexed Moves Controlling Moves In Progress Jog Moves Registration Moves Absolute and Relative Moves Reference: Homing an ISMD23E2 Definition of Home Position Position Preset CW/CCW Find Home Commands Homing Inputs Physical Inputs Network Data Input Homing Configurations Homing Profiles Home Input Only Profile Profile with Backplane_Proximity_ Profile with Overtravel Limit Controlling Find Home AMCI By IDEC Corporation 3

4 TABLE OF CONTENTS Commands In Progress Controlled Stop Conditions Immediate Stop Conditions Task: Installing the ISMD23E2 Location IP50 Rated Units (ISMD23E2-M12) IP64 Rated Units (ISMD23E2-M12S) Safe Handling Guidelines Prevent Electrostatic Damage Prevent Debris From Entering the Unit Remove Power Before Servicing in a Hazardous Environment Operating Temperature Guidelines Mounting ISMD23E2 Outline Drawing ISMD23E2 Mounting Connecting the Load Network Connectors Connector Pinout Compatible Connectors and Cordsets TIA/EIA-568 Color Codes Power and I/O Connector Compatible Connectors and Cordsets Power Wiring Input Wiring Cable Shields Sinking Sensors Require a Pull Up Resistor Ethernet Connections Task: Set the IP Address Determine the Best Method for Setting the IP Address Use Factory Default Settings Use the AMCI by IDEC Ethernet Tool Task: WindLDR 8.5 Project Setup Add the ISMD23E2 to the Remote Host List Configure the Connection Settings for the ISMD23E Task: Installing Custom Macros Download the Custom Macro File Add the Macros to a New or Existing Project Task: Using a Custom Macro in WindLDR Verify Memory Usage Verify/Alter Internal Relay Keep Settings Define the Memory Map to the Macro s Argument Devices Configure ISMD23E Absolute Move ISMD23E Relative Move ISMD23E Hold ISMD23E Resume ISMD23E Immediate Stop ISMD23E Home CW ISMD23E Home CCW ISMD23E Jog CW ISMD23E Registration Move CW ISMD23E Jog CCW ISMD23E Registration Move CCW ISMD23E Preset Position ISMD23E Clear Errors ISMD23E Drive Enable ISMD23E Drive Disable ISMD23E Preset Encoder Position ISMD23E Preset to Encoder ISMD23E Add a User-defined Macro to Ladder Logic Reference: ISMD23E2 Input Data Formats Configuration Mode Input Data Format Configuration Word 0 Format Invalid Configurations Factory Default Values Configuration Word 0 = 0x Configuration Word 1 = 0x Remaining Parameters Command Mode Input Data Format Status Word 0 Format Status Word 1 Format Notes on Clearing a Drive Fault Task: Additional Logic Buffer Input Data Command s Must Transition Commands that do not cause motion Jog and Registration Moves Absolute Move, Relative Move, and Find Home AMCI By IDEC Corporation 4

5 TABLE OF CONTENTS Optional Task: Configure Your Network Interfaces Firewall Settings Disable All Unused Network Interfaces Configure Your Network Interface Test Your Network Interface Reference: Assembled Moves Assembled Moves Blend Move Controlled Stops Immediate Stops Dwell Move Controlling an Assembled Move In Progress Assembled Move Programming Control s Output Data Control s Input Data Programming Routine Saving an Assembled Move in Flash Commanding an Assembled Move Reference: Configuration Mode Data Format Modes of Operation Configuration Mode Command Mode Power Up Behavior Data Format Output Data Format Configuration Word 0 Format Configuration Word 1 Format Notes on Other Configuration Words Reference: Command Mode Data Format Data Format Command s Must Transition Output Data Format Command Word Command Word Command Blocks Absolute Move Relative Move Hold Move Resume Move Immediate Stop Find Home CW Find Home CCW Jog CW Registration Move CW Jog CCW Registration Move CCW Preset Position Reset Errors Run Assembled Move Preset Encoder Position Programming Blocks First Block Segment Block Reference: Calculating Move Profiles Introduction Units of Measure Constant Acceleration Equations Variable Definitions Total Time Equations S-Curve Acceleration Equations Triangular S-Curve Acceleration Trapezoidal S-Curve Acceleration Determining Waveforms by Values AMCI By IDEC Corporation 5

6 TABLE OF CONTENTS Notes AMCI By IDEC Corporation 6

7 ABOUT THIS MANUAL Introduction Read this chapter to learn how to navigate through this manual and familiarize yourself with the conventions used in it. The last section of this chapter highlights the manual s remaining chapters and their target audience. Audience This manual explains the installation, and operation of the ISMD23E2 Integrated Stepper Motor + Drive + Controller. These devices are designed by Advanced Micro Controls Inc. for IDEC corporation. This manual is written for the engineer responsible for incorporating these products into a design as well as the engineer or technician responsible for their actual installation. These devices support network communications using Modbus TCP and are compatible with all IDEC controllers that support this protocol. Each unit has two network connectors that are connected through a two port Ethernet switch. This arrangement simplifies network wiring. Applicable Units This manual applies to all of the units in the ISMD23E2 family. Model Number ISMD23E2-130-M12 ISMD23E2-240-M12 ISMD23E2-130A-M12 ISMD23E2-240A-M12 ISMD23E2-130E-M12 ISMD23E2-240E-M12 ISMD23E2-130-M12S ISMD23E2-240-M12S ISMD23E2-130A-M12S ISMD23E2-240A-M12S ISMD23E2-130E-M12S ISMD23E2-240E-M12S Description Size 23 motor, 130 oz-in holding torque with sealed M12 connectors, with an IP50 rating. Size 23 motor, 240 oz-in holding torque with sealed M12 connectors, with an IP50 rating. Same as the ISMD23E2-130-M12 with an integrated absolute multi-turn encoder. Same as the ISMD23E2-240-M12 with an integrated absolute multi-turn encoder. Same as the ISMD23E2-130-M12 with an integrated incremental encoder. Same as the ISMD23E2-240-M12 with an integrated incremental encoder. Size 23 motor, 130 oz-in holding torque with a shaft seal, sealed M12 connectors, and an IP64 rating. Size 23 motor, 240 oz-in holding torque with a shaft seal, sealed M12 connectors, and an IP64 rating. Same as the ISMD23E2-130-M12S with an integrated absolute multi-turn encoder. Same as the ISMD23E2-240-M12S with an integrated absolute multi-turn encoder. Same as the ISMD23E2-130-M12S with an integrated incremental encoder. Same as the ISMD23E2-240-M12S with an integrated incremental encoder. Part Number Description Navigating this Manual This manual is designed to be used in both printed and on-line forms. Its on-line form is a PDF document, which requires Adobe Acrobat Reader version 7.0+ to open it. You are allowed to select and copy sections for use in other documents and add notes and annotations. If you decide to print out this manual, all sections contain an even number of pages which allows you to easily print out a single chapter on a duplex (two-sided) printer. Manual Conventions Three icons are used to highlight important information in the manual: Notes highlight important concepts, decisions you must make, or the implications of those decisions. Cautions tell you when equipment may be damaged if the procedure is not followed properly. Warnings tell you when people may be hurt or equipment may be damaged if the procedure is not followed properly. The following table shows the text formatting conventions: Format Normal Font Emphasis Font Cross Reference HTML Reference Description Font used throughout this manual. Font used for parameter names and the first time a new term is introduced. When viewing the PDF version of the manual, clicking on a blue cross reference jumps you to referenced section of the manual. When viewing the PDF version of the manual, clicking on a red cross reference opens your default web browser to the referenced section of the AMCI website if you have Internet access. AMCI BY IDEC CORPORATION 7

8 ABOUT THIS MANUAL ISMD23E2 User Manual Trademarks The AMCI logo is a trademark of Advanced Micro Controls Inc. FC6A Series MicroSmart is a trademark of IDEC Corporation. Adobe and Acrobat are registered trademarks of Adobe Systems Incorporated. All other trademarks contained herein are the property of their respective holders. Revision Record This manual, 940-0I151 is the first release of this manual. It was first released on May 4th, Revision History 940-0I151: May 4 th, Initial Release Manual Layout You will most likely read this manual for one of two reasons: If you are curious about the Integrated Stepper Motor + Drive + Controller products, this manual contains the information you need to determine if these products are the right products for your application. The first chapter, ISMD23E2 Specifications contains all of the information you will need to fully specify the right product for your application. If you need to install and use an Integrated Stepper Motor + Drive + Controller product, then the rest of the manual is written for you. To simplify installation and configuration, the rest of the manual is broken down into references and tasks. Using an Integrated Stepper Motor + Drive + Controller product requires you to complete multiple tasks, and the manual is broken down into sections that explain how to complete each one. Section Title Starting Page # Section Description ISMD23E2 Specifications 9 Complete specifications for the ISMD23E2 products. Motion Control 19 Reference information on how the ISMD23E2 can be used to control motion in your application. Homing an ISMD23E2 29 Reference information on how to set the home position of the ISMD23E2. Installing the ISMD23E2 33 Task instructions covering how to install an ISMD23E2 on a machine. Includes information on mounting, grounding, and wiring specific to the units. Set the IP Address 39 Task instructions that covers the options for setting the IP address on an ISMD23E2. WindLDR 8.5 Project Setup 41 Task instructions for adding an ISMD23E2 to a WindLDR 8.5+ project. Installing Custom Macros 45 Using a Custom Macro in WindLDR ISMD23E2 Input Data Formats Task instructions for downloading and installing custom macros into a new or existiong WindLDR project. Task instructions for adding a custom macro to a ladder logic program. Reference information on the format of the input data from the ISMD23E2. Data formats for configuration and command responses are given. Additional Logic 63 Task guidelines for adding the applications specific logic needed to control an ISMD23E2. Configure Your Network Interfaces Configure Your Network Interfaces Configuration Mode Data Format Instructions for the optional task of installing the AMCI by IDEC Ethernet tool software for changing the IP address of an ISMD23E2. Instructions for the optional task of configuring network interfaces on your computer or laptop. Reference information on the format of configuration data written down to the ISMD23E2. Custom macros simplify the programming of the ISMD23E2, and should be used in most cases. This reference is provided as a troubleshooting aid should the need arise. Command Mode Data Format 75 Reference information on the format of command data written down to the ISMD23E2. Custom macros simplify the programming of the ISMD23E2, and should be used in most cases. This reference is provided as a troubleshooting aid should the need arise. Calculating Move Profiles 85 Reference information on calculating detailed move profiles. Manual Sections 8 AMCI BY IDEC CORPORATION

9 REFERENCE 1: ISMD23E2 SPECIFICATIONS Introduction This chapter contains all of the information needed to specify an ISMD23E2 device for your project. The ISMD23E2 Family The ISMD23E2 units are part of a growing product line from a partnership between IDEC Corporation and AMCI that brings stepper motor control to the IDEC Corporation industrial control families. Each ISMD23E2 attaches to your Ethernet network and communicates using the Modbus TCP protocol. Each unit has two Ethernet ports which are internally connected through an onboard, two port, 10/100 Mbps Ethernet switch. These ports allow you to wire your network in a daisychain fashion, which may lower network wiring costs and complexities. Each unit can be ordered with an optional incremental or absolute multi-turn encoder. This encoder gives you the additional functionality of position verification and stall detection. The absolute multi-turn encoder allows you to track machine position with power removed, eliminating the need to home the machine after cycling power. All ISMD23E2 products have sealed M12 connectors for their Ethernet, I/O, and power connections. These units carry an IP50 environmental rating. Units can also be ordered with a shaft seal. These units carry an IP64 rating. These units are protected against liquid splash and condensation, but liquid should not be allowed to pool on the device itself. Figure R1.1 IP50 Rated SMD23E2 Part Numbering System ISMD23E2 M12 General Functionality TORQUE 130 = 130 oz-in 240 = 240 oz-in ENCODER blank = No encoder A = Absolute Multi-turn Encoder 2,048 counts/turn. E = Incremental Encoder 4,096 counts/turn max. CONNECTOR TYPE M12 = M12 Connectors Each member of the ISMD23E2 family has three integrated parts: Network: (2) 4 pin Female D-Coded Digital Inputs & Power: (1) 5 pin Male A-Coded Figure R1.2 Part Numbering System SEAL TYPE blank = No Seal, IP50 Rating S = Shaft Seal, IP64 Rating An indexer that accepts commands over an Ethernet connection using the Modbus TCP protocol A 3.4 Arms micro-stepping drive that accepts 24 to 48 Vdc as its input power source A high torque size 23 stepper motor (130 or 240 oz-in holding torque). An incremental or absolute multi-turn encoder is also available for applications that require position feedback or verification. The availability of user macros for the WindLDR Automation Organizer software makes the ISMD23E2 units easy to integrate into IDEC control systems. This combination of host and drive gives you several advantages: Sophisticated I/O processing can be performed in the IDEC controller before sending commands to the ISMD23E2 unit All motion logic is programmed in the host, eliminating the need to learn a separate motion control language The integral two port Ethernet switch simplifies network cabling The elimination of the separate indexer and drive lowers total system cost. AMCI By IDEC Corporation 9

10 ISMD23E2 SPECIFICATIONS ISMD23E2 User Manual An ISMD23E2 is powered by a nominal 24 to 48 Vdc power source, and can accept surge voltages of up to 60 Vdc without damage. The output motor current is fully programmable from 0.1 Arms to 3.4 Arms which makes the ISMD23E2 suitable to a wide range of applications. In addition to the Motor Current setting, the Motor Steps per Turn, Idle Current Reduction, and Anti-Resonance Circuit features are also programmable. The ISMD23E2 contains a true RMS motor current control drive. This means that you will always receive the motor s rated torque regardless of the Motor Steps/Turn setting. (Drives that control the peak current to the motor experience a 30% decrease in motor torque when microstepping a motor.) The combination of an ultra-low inductance motor and a high-power, true RMS drive gives unprecedented torque vs. speed performance for any DC application. The ISMD23E2 units have two DC inputs that are used by the indexer. Configuration data from the host sets the function of these inputs. Each input can be individually configured as a: CW or CCW Limit Switch Home Limit Switch Capture Position Input (Will capture encoder position on units with the internal encoder.) Stop Jog or Registration Move Input Start Indexer Move Emergency Stop Input General Purpose Input Encoder Functionality All ISMD23E2 units can be ordered with an internal incremental or absolute multi-turn encoder. Incremental encoders can be programmed to 1,024, 2,048, or 4,096 counts per turn. Absolute encoders have a fixed resolution of 2,048 counts per turn and encoder a total of 2 21 turns. (Thirty-two bits total.) Using an encoder gives you the ability to: Verify position during or after a move Detect motor stall conditions Maintain machine position when power is removed if using an absolute encoder. The motor position can be preset to the encoder position with a single command. ISMD23E2 units with absolute encoders allow you to preset the encoder position and save the resulting offset in Flash memory. 10 AMCI BY IDEC CORPORATION

11 ISMD23E2 User Manual ISMD23E2 SPECIFICATIONS Specifications Network Interface 10/100baseT. Two switched ports. Supports Modbus TCP protocol. Drive Type Two bipolar MOSFET H-bridges with 20KHz PWM current control. Physical Dimensions See page 34 Weight SMD23E2-130 (All versions) 1.96 lbs. (0.90 kg.) SMD23E2-240 (All versions) 2.73 lbs. (1.24 kg.) All weights are without mating connectors Maximum Shaft Loads Radial: 19 lbs (85 N) at end of shaft Axial: 3.37 lbs (15 N) Maximum Operating Temperature 203 F/95 C (Note that this is the operating temperature of the motor, not maximum ambient temperature. An Over Temperature fault occurs at this point and current is removed from the motor.) Over Temperature Fault Over temperature faults are reported in the Network Input Data. Power must be cycled to the unit to clear the fault. Inputs Electrical Characteristics: Single ended sinking. Accept 3.5 to 27Vdc without the need for an external current limiting resistor. Motor Current Programmable from 0.1 to 3.4 Arms in 0.1 Amp steps. DCPower AUX Current 70 24Vdc, Motor Counts per Turn Programmable to any value from 200 to 32,767 steps per revolution. Internal Encoder (Optional) Incremental encoder option supplies 1,024, 2,048, or 4,096 counts per turn. Absolute encoder option supplies 2,048 counts per turn, 32 bit max. counts. Idle Current Reduction Programmable from 0% to 100% of programmed motor current in 1% increments. Motor current is reduced to selected level if there is no motion for 1.5 seconds. Current is restored to full value when motion is started. Environmental Specifications Input Power 24 to 48 Vdc, surge to 60 Vdc without damage to unit. Ambient Operating Temperature: -40 to 122 F (-40 to 50 C) Storage Temperature: -40 to 185 F (-40 to 85 C) Humidity: 0 to 95%, non-condensing IP Rating: IP50 without shaft seal IP64 with shaft seal Status LED s See Status LED s section starting on page 15. Connectors and Cables All mating connectors are available separately under the following part numbers. Connector Part # Wire Strip Length Connection Type Ethernet IMS AWG max inches Screw Terminals Power & Digital Inputs IMS AWG max inches Screw Terminals Cable Part # Length Ethernet ICNER-5M 5 meter Power & Digital Inputs ICNPL-5M 5 meter AMCI By IDEC Corporation 11

12 ISMD23E2 SPECIFICATIONS ISMD23E2 User Manual Controller Functionality The table below lists the functionality offered by the indexer built into the ISMD23E2 units. Feature Modbus TCP Protocol Programmable Inputs Programmable Parameters Homing Jog Move Relative Move Absolute Move Registration Move Blend Move Dwell Move Indexer Move Hold Move Resume Move Immediate Stop Stall Detection Description The ISMD23E2 units communicate through the Modbus TCP protocol. This allows easy setup and communication with a wide range of IDEC host controllers. Each of the inputs can be programmed as a Home Limit, Over Travel Limit, Capture Input, Stop Jog or Registration Move, Start Indexer Move, E-Stop, or a General Purpose Input. Starting Speed, Running Speed, Acceleration, Deceleration, Accel/Decel Types, and Motor Current are fully programmable. Allows you to set the machine to a known position. The motor and encoder positions can be preset with a network command or the ISMD23E2 can home to a discrete input. Allows you to drive the motor in either direction as long as the command is active. Allows you to drive the motor a specific number of steps in either direction from the current location. Allows you to drive the motor from one known location to another known location. Allows you to jog the motor in either direction based on a command from your IDEC host controller. When a controlled stop is issued, the move will output a programmable number of steps before coming to a stop. Allows you to perform a sequence of relative moves without stopping between them. This feature is used to create highly accurate move profiles that avoid network latency issues. Allows you to perform a sequence of relative moves with a stop between each move that has a programmable length of time. This feature is used to create highly accurate move profiles that avoid network latency issues. Allows you to program a move that does not start until one of the programmable inputs makes a transition. Allows you to suspend a move, and optionally restart it, without losing your position value. Allows you to restart a previously held move operation. Allows you to immediately stop all motion if an error condition is detected by your host controller. When an ISMD23E2 is purchased with an encoder option, the encoder can be used to verify motion when a move command is issued. This functionality is not used in many applications, and is not programmable through custom macros supplied by IDEC. A full description of this functionality is available in the Assembled Moves section of this manual, starting on page 67. Table R1.1 Controller Functionality 12 AMCI BY IDEC CORPORATION

13 ISMD23E2 User Manual ISMD23E2 SPECIFICATIONS Drive Functionality This table summarizes the features of the stepper motor drive portion of the ISMD23E2 units. Feature RMS Current Control Programmable Motor Current Programmable Idle Current Reduction Programmable Motor Steps/Turn Anti-Resonance Circuitry Over Temperature Detection Over Temperature Protection Benefits RMS current control give an ISMD23E2 the ability to drive the motor at its fully rated power regardless of the programmed steps per turn. There is no reduction in power when microstepping that may occur with other drives. RMS current supplied to the motor can be programmed from 0.1 to 3.4 amps in 0.1 amp increments. Reducing the motor current to the minimum needed for your application will significantly reduce the motors operating temperature Extends motor life by reducing the motor current when motion is not occurring. This extends the life of the motor by reducing its operating temperature. Allows you to scale your motor count to a real world value. (counts per inch, counts per degree, etc.) This feedback circuitry and algorithm gives the ISMD23E2 the ability to modify motor current waveforms to compensate for mechanical resonance in your system. This will give you smooth performance over the entire speed range of the motor. An ISMD23E2 sets a warning bit in the network data when the internal temperature of the unit approaches its safe operating threshold. Protects your ISMD23E2 from damage by removing power from the motor if the internal temperature of the drive exceeds the safe operating threshold of 203 F/95 C. Idle Current Reduction Table R1.2 Drive Functionality Idle Current Reduction allows you to prolong the life of your motor by reducing its idling temperature. Values for this parameter range from 0% (no holding torque when idle) to 100%. Idle current reduction should be used whenever possible. By reducing the current, you are reducing the I 2 R losses in the motor. Therefore, the temperature drop in the motor is exponential, not linear. This means that even a small reduction in the idle current can have a large effect on the temperature of the motor. Note that the reduction values are to values, not by values. Setting a motor current to 2 Arms and the current reduction to 25% will result in an idle current of 0.5 Apk. (The ISMD23E2 always switches from RMS to peak current control when the motor is idle to prevent motor damage due to excessive heating.) Optional Encoder The ISMD23E2 can be ordered with an integral encoder. The encoder is typically used for position verification and stall detection. Additionally, an input can be configured to capture the encoder value when the input makes an inactive to active transition. This captured value is written to the host controller. Two encoder options are available: Incremental Encoder The incremental encoder can be programmed to 1,024, 2,048, or 4,096 counts per turn. The ISMD23E2 has an internal thirty-two bit counter associated with the encoder. Absolute Multi-turn Encoder The absolute encoder has a fixed resolution of 2,048 counts per turn. The absolute encoder is a multi-turn device that encodes a total of 2 21 turns, yielding a full thirty-two bits of position resolution. The absolute encoder can be used for position verification and stall detection, but its primary advantage is that it eliminates the need to home the axis after cycling power to the drive. Like many intelligent absolute encoders on the market today, the absolute encoder in the ISMD23E2 uses a battery backed circuit to count zero crossings while power is removed from the rest of the device. The circuit will accurately track position as long as the shaft acceleration is limited to 160,000 degrees/sec 2, (444.4 rev/sec 2 ), or less. Additional Notes on Stall Detection When Stall Detection is enabled, the ISMD23E2 monitors the encoder for position changes, regardless of whether or not a move is in progress. If the error between the encoder position and the motor position exceeds forty-five degrees, the ISMD23E2 responds in the following manner: The stall is reported in the network input data. AMCI BY IDEC CORPORATION 13

14 ISMD23E2 SPECIFICATIONS ISMD23E2 User Manual The motor position becomes invalid. (The machine must be homed or the motor position preset before Absolute moves can be run again. If a move was in progress, the move is stopped. Note that a move does not have to be in progress for stall detection to be useful. As described later in this chapter, there is an auxiliary power pin that powers the electronics of an ISMD23E2 but does not power the motor. The primary use of this feature is to keep the unit connected to the network while power is removed from the motor. When using the DCPower AUX pin, the ISMD23E2 cannot sense when power has been removed from the DCPower MAIN pin. By enabling stall detection, the ISMD23E2 can notify the system if the motor shaft moves more than forty-five degrees while power is removed from the motor. Available Discrete Inputs The ISMD23E2 has two discrete DC inputs that accept 3.5 to 27 Vdc signals. (5 to 24 Vdc nominal) How the ISMD23E2 uses these inputs is fully programmable. The active state of each input is also programmable. Programming their active states allow them to act as Normally Open (NO) or Normally Closed (NC) contacts. These inputs are open collector sinking and share their common connection with the common of the main and auxilary power supplies. Home Input Many applications require that the machine be brought to a known position before normal operation can begin. This is commonly called homing the machine or bringing the machine to its home position. An ISMD23E2 allows you to define this starting position in two ways. The first is with a Position Preset command. The second is with a sensor mounted on the machine. When you define one of the inputs as the Home Input, you can issue commands to the ISMD23E2 that will cause the unit to seek this sensor. How the ISMD23E2 actually finds the home sensor is described in the reference chapter Homing an ISMD23E2 starting on page 29. CW Limit Switch or CCW Limit Switch Each input can be defined as a CW or CCW Limit Switch. When used this way, the inputs define the limits of mechanical travel. For example, if you are moving in a clockwise direction and the CW Limit Switch activates, all motion will immediately stop. At this point, you will only be able to jog in the counter-clockwise direction until the sensor deactivates. Start Indexer Move Input Indexer Moves are programmed through the Network Data like every other move. The only difference is that Indexer Moves are not run until a Start Indexer Move Input makes a inactive-to-active state transition. This allows an ISMD23E2 to run critically timed moves that cannot be reliably started from the network due to data transfer lags. If the unit was ordered with the encoder option, and one of the discrete DC inputs is programmed as a Start Indexer Move Input, then the encoder position data will also be captured whenever the DC input makes a transition. An inactive-to-active state transition on the DC input will also trigger an Indexer Move if one is pending. Emergency Stop Input When an input is defined as an Emergency Stop, or E-Stop Input, motion will immediately stop when this input becomes active. The drive remains enabled and power is supplied to the motor. Any type of move, including a Jog or Registration Move, cannot begin while this input is active. Stop Jog or Registration Move Input When an input is configured as a Stop Jog or Registration Move Input, triggering this input during a Jog Move or Registration Move will bring the move to a controlled stop. The controlled stop is triggered on an inactive-to-active state change on the input. Only Jog Moves and Registration Moves can be stopped this way, all other moves ignore this input. If the unit was ordered with an integral encoder, the encoder position data will be captured when the DC input makes an inactive-toactive transition if it is configured as a Stop Jog or Registration Move Input. The encoder position data is not captured if a Jog or Registration Move is not in progress. If you want to capture encoder position data on every transition of a DC input, configure it as a Start Indexer Move Input. Capture Encoder Position Input As described in the Start Indexer Move Input and Stop Jog or Registration Move Input sections above, an ISMD23E2 can be configured to capture the encoder position value on a transition of a discrete DC input. General Purpose Input If your application does not require one or both of the inputs, you can configure the unused inputs as General Purpose Inputs. The inputs are not used by the ISMD23E2, but their on/off state is reported in the network data and is available to your IDEC controller. 14 AMCI BY IDEC CORPORATION

15 ISMD23E2 User Manual ISMD23E2 SPECIFICATIONS Status LED s Each ISMD23E2 has two status LED s that show module and network status. As shown in figure R1.3, these LED s are located on the rear cover. Module Status LED The Module LED is a bi-color red/green LED that show the general status of the unit. Steady Green: Unit OK Steady Red: An Over Temperature Fault exists. Blinking Green: Successful write to flash memory. Power must be cycled to the unit before additional commands can be written to it. Blinking Red: Failed write to flash memory. You must cycle power to the unit to clear this fault. Alternating Red/Green: Communications failure. There is a communications error between the main processor and the ethernet co-processor within the unit. You must cycle power to the ISMD23E2 to attempt to clear this fault. Power Up Behavior Blinking Green: The unit will blink the Module Status LED green during initialization. Blinking Red: The unit will blink the Module Status LED red three times if there is an error with the internal absolute encoder. Port 2 Port 1 Power & Inputs Module Status Network Status Power: 24 to 48 Vdc Figure R1.3 ISMD23E2 Rear View Network Status (NS) LED The Network Status LED is a bi-color red/green LED. LED State Off Alternating Red/Green Flashing Green Steady Green Steady Red No power or no Modbus TCP connections Power up Self-Test Definition Indicates number of concurrent connections with 2 second delay between group. The ISMD23E2 supports up to 3 concurrent connections. Should not occur. LED should always flash when network is connected. Duplicate IP address on network. ISMD23E2 Connectors Ethernet Connectors Table R1.3 Network Status LED States Figure R1.3 above shows the placement of the connectors on an ISMD23E2 unit. Figure R1.4 shows the pinout of the Ethernet connectors when viewed from the back of the ISMD23E2. Each Ethernet port on the ISMD23E2 is an auto-sense port that will automatically switch between 10baseT and 100baseT depending on the network equipment it is attached to. Each port also has auto switch capability that will switch the direction of the Tx and Rx pairs if necessary. This eliminates the need for cross-over cables in all circumstances. A standard cable can be used when connecting the ISMD23E2 to any device, including a personal computer. Pin 3: Tx Pin 4: Rx Pin 2: +Rx Pin 1: +Tx ETHERNET Por ts 1 & 2 Figure R1.4 Ethernet Connector Pinout The connector is a standard four pin D-coded female M12 connector that is rated to IP67 when the mate is properly installed. AMCI By IDEC Corporation 15

16 ISMD23E2 SPECIFICATIONS ISMD23E2 User Manual Input Connector As shown in figure R1.3 on the previous page, the Input Connector is located on the back of the unit near its center. All digital input and power supply connections are made at this connector. The connector is a standard five pin A-coded M12 connector that is rated to IP67 when the mate is properly attached. Figure 1.5 shows the pinout of the connector when viewed from the back of the SMD23E2. Pin 3: DC Common Pin 4: Input 2 Pin 2: Input 1 Pin 1: DCPowerMAIN Pin 5: DCPowerAUX POWER & INPUTS Figure R1.5 M12 Input Connector The two digital inputs are single ended, sinking inputs and referenced to the DC Common pin. Both of the inputs accept a nominal 5 Vdc to 24 Vdc signal without the need of a current limiting resistor. Additional information on how the digital inputs can be used can be found in the Available Discrete Inputs section of the chapter, starting on page 14. There are two power pins. DCPower MAIN powers both the control electronics and the motor. DCPower AUX powers only the control electronics. Using the DCPower AUX pin is optional. If your application requires you to cut power to your motor under some conditions, using the DCPower AUX pin allows you to cut power to your motor without losing your network connection. If the unit was ordered with an encoder, the DCPower AUX pin will also maintain power to the encoder. If the motor shaft is rotated while motor power is removed, the encoder position will update. (The motor position will not update.) Once power is restored to the motor, a Preset Position command can be issued to restore the correct motor position without having to go through a homing sequence. If Stall Detection is enabled on the ISMD23E2, it will also be able to tell the IDEC system if the motor shaft rotated more than forty-five degrees with power removed. Torque and Power Curves Figure R1.6 ISMD23E-130 Torque and Power Curves 16 AMCI BY IDEC CORPORATION

17 ISMD23E2 User Manual ISMD23E2 SPECIFICATIONS Figure R1.7 ISMD23E-240 Torque and Power Curves Power Supply Sizing The power supply can be sized based on the power the motor must generate during its operation. As a general guideline, your supply should be able to produce 150% to 175% of the power the motor can produce. The power and torque curves on the previous page can be used to determine the maximum power the motor can generate over its speed range. Note that the power value that you should use is the maximum power value over the range of speeds that the motor will be operated at. The power generated by the motor may decrease towards the end of its usable speed range. Therefore, the power generated at your machine s operating point may be less than the maximum the motor can generate at a lower speed. Example 1: An ISMD23E2-130 will be running at a maximum of 20 RPS and a 48 Vdc supply will be used. Based on the power curve in figure R1.6 on the previous page, the power at this speed is 100 watts, which is the maximum power over the entire speed range. Therefore, the 48 Vdc supply should be able to supply 150 to 175 watts of power. Example 2: An ISMD23E2-240 will be running at a maximum of 9 RPS and a 24 Vdc supply will be used. Based on the power curve in figure R1.7 on this page, the power at this speed is approximately 47 watts, but the maximum power over the entire speed range is 55 watts, which occurs at 7 RPS. Therefore, the 55 watt value should be used, and the 24 Vdc supply should be able to supply 83 to 97 watts of power. Table below shows the suggested power supply sizes based on the maximum power the motor can generate over its entire speed range. ISMD23E2-130 ISMD23E2-240 Supply Voltage Motor Power 150% Supply 175% Supply Motor Power 150% Supply 175% Supply 24 Vdc 52 W 78 W 91 W 56 W 84 W 98 W 48 Vdc 103 W 155 W 180 W 132 W 198 W 231 W Regeneration (Back EMF) Effects Table R1.4 Suggested Power Supply Ratings All motors generate electrical energy when the mechanical speed of the rotor is greater than the speed of the rotating magnetic fields set by the drive. This is known as regeneration, or back EMF. Designers of systems with a large mass moment of inertia or high deceleration rates must take regeneration effects into account when selecting power supply components. AMCI By IDEC Corporation 17

18 ISMD23E2 SPECIFICATIONS ISMD23E2 User Manual The motors used in the ISMD23E2 products are low inductance motors. Regeneration effects are not an issue in most applications. The one exception is when a gearhead is placed on the motor and the system allows the gearhead shaft to be manually rotated. In these applications, the motor may rotate at high speeds and act as a generator. The first line of defense against regenerative events is an appropriately sized power supply. The additional capacitance typically found in a larger supplies can be used to absorb the regenerative energy. If your application has high deceleration rates, or can be rotated manually at high speeds, then a supply that can deliver 175% of peak motor power should be used. Consider using a separate supply for any sensor attached to the ISMD23E2 to protect it from regeneration voltages. Only use power supplies that will not be damaged by regeneration events. Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market, all of which will work with the ISMD23E2 provided that the manufacturer follows the connector and Ethernet standards. AMCI and IDEC Corporation have reviewed the following connectors and ethernet cordsets for compatibility with the ISMD23E2. Ethernet Connector Regeneration events can raise the Vdc supply voltage to an unexpected value. Components not rated for this voltage may be damaged. Part # Description IMS-28 Ethernet Cordset Mating connector for Ethernet Connector. Male, 4 pin D-coded. Screw terminal connections. 6 to 8 mm dia. cable. Straight, IP67 rated when properly installed. Table R1.5 Ethernet Connectors Part # Description ICNER-5M Power & Digital Input Connector 4-position, 24 AWG, shielded. EIA/TIA 568B color coded. Connectors: Straight M12, D-coded, Male to RJ45. Shield attached to both connectors. Cable length: 5 meters Table R1.6 Ethernet Cordset Part # IMS-31 Description Mating connector for Power & Digital Input Connector. Female, 5 pin A-coded. Screw terminal connections. 6 to 8 mm dia. cable. Straight, IP67 rated when properly installed. Power & Digital Input Cordset Table R1.7 Power and Digital Input Connector Part # ICNPL-5M Description 5-position, 18 AWG. Connector: Straight M12, A-coded, Female to 2 inch flying leads, 0.28 stripped. Cable length: 5 meters Table R1.8 Power and Digital Input Cordset 18 AMCI BY IDEC CORPORATION

19 REFERENCE 2: MOTION CONTROL Introduction When a move command is sent to an ISMD23E2, the unit calculates the entire profile before starting the move or issuing an error message. This chapter explains how the profiles are calculated and the different available moves. Definitions Units of Measure Distance: Every distance is measured in steps. When you configure the unit, you will specify the number of steps you want to complete one rotation of the motor shaft. It is up to you to determine how many steps are required to travel the appropriate distance in your application. Speed: All speeds are measured in steps/second. Since the number of steps needed to complete one shaft rotation is determined by your programming, it is up to you to determine how many steps per second is required to rotate the motor shaft at your desired speed. Acceleration: The typical unit of measure for acceleration and deceleration is steps/second/second, or steps/second 2. However, when programming an ISMD23E2, all acceleration and deceleration values must be programmed in the unit of measure of steps/second/millisecond. To convert from steps/second 2 to steps/millisecond/second, divide the value by This must be done when converting from a value used in the equations to a value programmed into an ISMD23E2. To convert from steps/millisecond/second to steps/second 2, multiply the value by This must be done when converting from the value programmed into an ISMD23E2 to the value used in the equations. Motor Position Motor Position is defined in counts, and its limits are -2,147,483,648 to +2,147,483,647 counts. The optional encoder has the same range. Home Position The Home Position is any position on your machine that you can sense and stop at. There are two ways to defining the Home Position. The first is using the Preset Position command to set the Motor Position register to a known value. The second method is using one of the Find Home commands. If you use the unit s Find Home commands, the motor position and encoder position registers will automatically be set to zero once the home position is reached. Defining a Home Position is completely optional. Some applications, such as those that use the ISMD23E2 for speed control, don t require position data at all. Valid and Invalid Positions The Motor Position is considered Valid once the Home Position has been defined. Until that time, the motor position is considered Invalid. Absolute moves cannot be run unless the position is Valid. Uncontrolled, immediate stops will force the position to become Invalid. Count Direction Clockwise moves will always increase the motor position register reported back to the host. Some of the moves, such as the Jog Move, have a positive and negative command. A positive command, such as the +Jog Move command, will result in a clockwise rotation of the shaft. Starting Speed The Starting Speed is the speed that most moves will begin and end at. This value is set while configuring the unit and it has a valid range of 1 to 999 steps/second. This value is typically used to start the move above the motor s low frequency resonances and, in micro-stepping applications, to limit the amount of time needed for acceleration and deceleration. AMCI does not specify a default value in this manual because it is very dependent on motor size and attached load. While bench testing the ISMD23E2, a starting speed between 0.25 and 0.5 RPS is generally a safe value to begin with. AMCI By IDEC Corporation 19

20 MOTION CONTROL ISMD23E2 User Manual Target Position The Target Position is the position that you want the move to end at. There are two ways to define the Target Position, with relative coordinates or absolute coordinates. Relative Coordinates Relative coordinates define the Target Position as an offset from the present position of the motor. Most ISMD23E2 moves use relative coordinates. The range of values for the Target Position when it is treated as an offset is ±8,388,607 counts. Positive offsets will result in clockwise moves, while negative offsets result in counter-clockwise moves. The Motor Position value reported back to the host exceeds ±8,388,607 counts. The only way to move beyond ±8,388,607 counts is with multiple relative moves or jog commands. Absolute Coordinates Absolute coordinates treat the Target Position as an actual position on the machine. Note that you must set the Home Position on the machine before you can run an Absolute Move. (See Home Position on the previous page.) The range of values for the Target Position when it is treated as an actual position on the machine is ±8,388,607 counts. The move will be clockwise if the Target Position is greater than the Current Position and counter-clockwise if the Target Position is less than the Current Position. The Motor Position value reported back to the host exceeds ±8,388,607 counts. However, you cannot move beyond ±8,388,607 counts with an Absolute Move. The only way to move beyond ±8,388,607 counts is with multiple relative moves or a jog move. Definition of Acceleration Types With the exception of Registration Moves, all move commands, including homing commands, allow you to define the acceleration type used during the move. The ISMD23E2 supports three types of accelerations and decelerations. The type of acceleration used is controlled by the Acceleration Jerk parameter. Detailed move profile calculations, including the effect of the Acceleration Jerk parameter, can be found in the reference section, Calculating Move Profiles, starting on page 85. Linear Acceleration When the Acceleration Jerk parameter equals zero, the axis accelerates (or decelerates) at a constant rate until the programmed speed is reached. This offers the fastest acceleration, but consideration must be given to insure the smoothest transition from rest to the acceleration phase of the move. The smoothest transition occurs when the configured Starting Speed is equal to the square root of the programmed Linear Acceleration. Note that other values will work correctly, but you may notice a quick change in velocity at the beginning of the acceleration phase. SPEED t TIME Programmed Speed ACCELERATION t TIME Triangular S-Curve Acceleration Figure R2.1 Linear Acceleration When the Acceleration Jerk parameter equals one, the axis accelerates (or decelerates) at a constantly changing rate that is slowest at the beginning and end of the acceleration phase of the move. The Triangular S-Curve type offers the smoothest acceleration, but it takes twice as long as a Linear Acceleration to achieve the same velocity. SPEED 2t TIME Programmed Speed ACCELERATION 2t TIME Figure R2.2 Triangular S-Curve Acceleration 20 AMCI BY IDEC CORPORATION

21 ISMD23E2 User Manual MOTION CONTROL Trapezoidal S-Curve Acceleration When the Acceleration Jerk parameter is in the range of 2 to 5,000, Trapezoidal S-Curve acceleration is used. The Trapezoidal S-Curve acceleration is a good compromise between the speed of Linear acceleration and the smoothness of Triangular S-Curve acceleration. Like the Triangular S-Curve, this acceleration type begins and ends the acceleration phase smoothly, but the middle of the acceleration phase is linear. Figure R2.3 shows a trapezoidal curve when the linear acceleration phase is half of the total acceleration time. With this setting, the Trapezoidal S-Curve acceleration only requires 33% more time to achieve the same velocity as a Linear Acceleration. SPEED Programmed Speed Figure R2.3 Trapezoidal S-Curve Acceleration An acceleration jerk setting of 2 will result in the smallest amount of constant acceleration during a trapezoidal S-curve acceleration. An acceleration jerk setting of 5000 will result in the largest amount of constant acceleration during a trapezoidal S-curve acceleration. See S-Curve Acceleration Equations, which starts on page 87, for a methods of calculating the Acceleration Jerk parameter. A Simple Move As shown in the figure below, a move from A (Current Position) to B (Target Position) consists of several parts. ACCELERATION 4/3t TIME 4/3t 1/4 1/2 1/4 1/4 1/2 1/4 TIME SPEED A Figure R2.4 A Trapezoidal Profile 1) The move begins at point A, where the motor jumps from rest to the configured Starting Speed. The motor then accelerates at the programmed Acceleration Value until the speed of the motor reaches the Programmed Speed. Both the Acceleration Value and the Programmed Speed are programmed when the move command is sent to the ISMD23E2. 2) The motor continues to run at the Programmed Speed until it reaches the point where it must decelerate before reaching point B. 3) The motor decelerates at the Deceleration Value, which is also programmed by the move command, until the speed reaches the Starting Speed, which occurs at the Target Position (B). The motor stops at this point. Note that the acceleration and deceleration values can be different in the move. Figure R2.4 above shows a Trapezoidal Profile. A Trapezoidal Profile occurs when the Programmed Speed is reached during the move. This occurs when the number of steps needed to accelerate and decelerate are less than the total number of steps in the move. Figure R2.5 below shows a Triangular Profile. A Triangular Profile occurs when the number of steps needed to accelerate to the Programmed Speed and decelerate from the Programmed Speed are greater than the total number of steps in the move. In this case, the profile will accelerate as far as it can before it has to decelerate to reach the Starting Speed at the Target Position. The Programmed Speed is never reached. B POSITION SPEED A B Figure R2.5 A Triangular Profile POSITION AMCI By IDEC Corporation 21

22 MOTION CONTROL ISMD23E2 User Manual Controlled and Immediate Stops Once a move is started, there are several ways to stop the move before it comes to an end. These stops are broken down into two types: Controlled Stop: The axis immediately begins decelerating at the move s programmed deceleration value until it reaches the configured Starting Speed. The axis stops at this point. The motor position value is still considered valid after a Controlled Stop and the machine does not need to be homed again before Absolute Moves can be run. Immediate Stop: The axis immediately stops motion regardless of the speed the motor is running at. Since it is possible for the inertia of the load attached to the motor to pull the motor beyond the stopping point, the motor position value is considered invalid after an Immediate Stop. The machine must be homed or the position must be preset before Absolute Moves can be run again. Host Control Hold Move Command: This command can be used with some moves to bring the axis to a Controlled Stop. The move can be resumed and finished, or it can be aborted. Not all moves are affected by this command. The section Basic Move Types, starting on page 22, describes each move type in detail, including if the move is affected by this command. Immediate Stop Command: When this command is issued from the host, the axis will come to an Immediate Stop. The move cannot be restarted and the machine must be homed again before Absolute Moves can be run. Note that power is not removed from the motor. Hardware Control Stop Jog or Registration Move Input: Triggering this input type during a Jog Move or Registration Move will bring the move to a controlled stop. The controlled stop is triggered on an inactive-to-active state change on the input. Only Jog Moves and Registration Moves can be stopped this way, all other moves ignore this input. CW Limit and CCW Limit Inputs: In most cases, activating these inputs during a move will bring the axis to an Immediate Stop. The exceptions are the CW/CCW Find Home commands, the CW/CCW Jog Move commands, and the CW/CCW Registration Move commands. The Find Home commands are explained in the reference section, Homing an ISMD23E2, which starts on page 29. The CW/CCW Jog Move commands are fully explained on page 23, and the CW/CCW Registration Move commands are fully explained on page 24. Emergency Stop Input: It is possible to configure an input as an Emergency Stop Input. When an Emergency Stop Input is activated, the axis will come to an Immediate Stop, regardless of the direction of travel. The move cannot be restarted and the machine must be homed again before Absolute Moves can be run. Note that power is not removed from the motor. Basic Move Types Relative Move Relative Moves move an offset number of steps (n) from the Current Position (A). A trapezoidal profile is shown to the right, but Relative Moves can also generate triangular profiles. The command s Target Position is the move s offset. The offset can be in the range of ±8,388,607 counts. Positive offsets will result in clockwise moves, while negative offsets result in counter-clockwise moves. SPEED A A+n Figure R2.6 Relative Move POSITION 1) You do not have to preset the position or home the machine before you can use Relative Moves. That is, the Position_Invalid status bit can be set. 2) Relative Moves allow you to move your machine without having to calculate absolute positions. If you are indexing a rotary table, you can preform a relative move of 30 multiple times without recalculating new target positions in your controller. If you perform the same action with Absolute Moves, you would have to calculate your 30 position followed by your 60 position, followed by your 90 position, etc. Relative Moves can be brought to a Controlled Stop by using the Hold Move Command from your host controller. When the command is accepted, the axis will immediately decelerate at the programmed rate and stop. When stopped successfully, the ISMD23E2 will set the In_Hold_State bit in the input data table. The Relative Move can be restarted with the Resume Move command from the host controller or the move can be aborted by starting another move. The Resume Move command allows you to change the move s Programmed Speed, Acceleration Value and Type, and the Deceleration Value and Type. The Target Position cannot be changed with the Resume Move Command. 22 AMCI BY IDEC CORPORATION

23 ISMD23E2 User Manual MOTION CONTROL Controlled Stop Conditions The move completes without error. You toggle the Hold_Move control bit in the Network Output Data. Note that your holding position will most likely not be the final position you commanded. You can resume a held Relative Move by using the Resume Move command. The use of the Hold_Move and Resume_Move bits is further explained in the Controlling Moves In Progress section starting on page 26. Immediate Stop Conditions The Immediate Stop bit makes a 0 1 transition in the Network Output Data. An inactive-to-active transition on an input configured as an E-Stop Input. A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be issued before moves are allowed in that direction again. If the limit that is reached is opposite the direction of travel, a Reset Errors command does not have to be issued. Absolute Move Absolute Moves move from the Current Position (A) to a given position (B). (The ISMD23E2 calculates the direction and number of steps needed to move to the given position and moves that number of steps.) A trapezoidal profile is shown to the right, but Absolute Moves can also generate triangular profiles. The command s Target Position can be in the range of ±8,388,607 counts. The move will be clockwise if the Target Position is greater than the Current Position and counter-clockwise if the Target Position is less than the Current Position. SPEED A B Figure R2.7 Absolute Move POSITION Controlled Stop Conditions The move completes without error. You toggle the Hold_Move control bit in the Network Output Data. Note that your holding position will most likely not be the final position you commanded. You can resume a held Absolute Move by using the Resume_Move bit or the move can be aborted by starting another move. The use of the Hold_Move and Resume_Move bits is explained in the Controlling Moves In Progress section starting on page 26. Immediate Stop Conditions The Immediate Stop bit makes a 0 1 transition in the Network Output Data. An inactive-to-active transition on an input configured as an E-Stop Input. A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be issued before moves are allowed in that direction again. If the limit that is reached is opposite the direction of travel, a Reset Errors command does not have to be issued. CW/CCW Jog Move 1) The Motor Position must be valid before you can use an Absolute Move. The Motor Position becomes valid when you preset the position or home the machine. See the reference section, Homing an ISMD23E2, which starts on page 29, for information on homing the machine. 2) Absolute Moves allow you to move your machine without having to calculate relative positions. If you are controlling a rotary table, you can drive the table to any angle without having to calculate the distance to travel. For example an Absolute Move to 180 will move the table to the correct position regardless of where the move starts from. Jog Moves move in the programmed direction as long as the command is active. Two commands are available. The CW Jog Move will increase the motor position count while the CCW Jog Move will decrease the motor position count. These commands are often used to give the operator manual control over the axis. Jog Moves are also used when you are interested in controlling the speed of the shaft instead of its position. One such application is driving a conveyor belt. To accommodate these applications, the running speed, acceleration, and deceleration of the Jog Move can be changed while the move is in progress. The CW Limit and CCW Limit inputs behave differently for CW/CCW Jog Moves and CW/CCW Registration Moves than all other move types. Like all moves, activating a limit will bring the move to an Immediate Stop. Unlike other moves, a Jog or Registration move can be started when an end limit switch is active provided that the commanded direction is opposite that of the activated switch. For example, a CW Jog Move can be issued while the CCW limit switch is active. This allows you to move off of an activated end limit switch. AMCI By IDEC Corporation 23

24 MOTION CONTROL ISMD23E2 User Manual As shown below, a Jog Moves begins at the programmed Starting Speed, accelerates at the programmed rate to the Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the ISMD23E2 will decelerate the motor to the starting speed and stop without losing position. If it is an Immediate Stop Condition, the motion stops immediately and the position becomes invalid. It is possible to change the speed of a Jog Move without stopping the motion. The Programmed Speed, Acceleration, and Deceleration parameters can be changed during a Jog Move. When the Programmed Speed is changed, the motor will accelerate or decelerate to the new Programmed Speed using the new accelerate/decelerate parameter values. If you write a Programmed Speed to the unit that is less than the starting speed, the Jog Move will continue at the previously programmed speed. SPEED POSITION Change in Parameters Change in Parameters Controlled Stop Condition Figure R2.8 Jog Move Controlled Stop Conditions The Jog Move Command bit is reset to 0. An inactive-to-active transition on an input configured as a Stop Jog or Registration Move Input. You toggle the Hold_Move control bit in the Network Output Data. The use of the Hold_Move and Resume_Move bits is explained in the Controlling Moves In Progress section starting on page 26. Immediate Stop Conditions The Immediate_Stop bit makes a 0 1 transition in the Network Output Data. A inactive-to-active transition on an input configured as an E-Stop Input. A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be issued before moves are allowed in that direction again. If the limit that is reached is opposite the direction of travel, a Reset Errors command does not have to be issued. Note that it is possible to start a move while a CW or CCW Limit Switch is active as long as the direction of travel is opposite that of the activated Limit Switch. For example, it is possible to start a CW Jog Move while the CCW Limit Switch is active CW/CCW Registration Move Similar to a Jog Move, a Registration Move will travel in the programmed direction as long as the command is active. CW Registration Moves increase the motor position count while the CCW Registration Moves decrease the motor position count. When the command terminates under Controlled Stop conditions, the ISMD23E2 will output a programmed number of steps as part of bringing the move to a stop. Note that all position values programmed with a Registration Move are relative values, not absolute machine positions. SPEED Controlled Stop Condition POSITION Figure R2.9 Registration Move If the Programmed Number of Steps are less than the number of steps needed to bring the axis to a stop based on the Programmed Speed and Deceleration values set with the command, the ISMD23E2 will decelerate at the programmed Deceleration value until it has output the Programmed Number of Steps and then stop the move without further deceleration. 24 AMCI BY IDEC CORPORATION

25 ISMD23E2 User Manual MOTION CONTROL An additional feature of the Registration Moves is the ability to program the drive to ignore the Controlled Stop conditions until a minimum number of steps have occurred. This value is programmed through the Minimum Registration Move Distance parameter, which is set when you command the Registration Move. The figure below shows how the Minimum Registration Move Distance parameter affects when the Stop Condition is applied to the move. As shown in the second diagram, Controlled Stop conditions are level triggered, not edge triggered. If a Controlled Stop Condition occurs before the Minimum Registration Move Distance is reached and the condition remains active, the move will begin its controlled stop once the Minimum Registration Move Distance is reached. SPEED Controlled Stop Condition POSITION SPEED Controlled Stop Condition POSITION Figure R2.10 Min. Registration Move Distance Controlled Stop Conditions The Registration Move Command bit is reset to 0. A positive transition on an input configured as a Stop Jog or Registration Move Input. Starting a Registration Move with a Stop Jog or Registration Move Input in its active state will result in a move of (Minimum Registration Distance + Programmed Number of Steps). You toggle the Hold_Move control bit in the Network Output Data. The ISMD23E2 responds by using the programmed Deceleration value to bring the move to a stop, without using the value of the Programmed Number of Steps parameter. A Registration Move does not go into the Hold State if the Hold_Move control bit is used to stop the move and it cannot be restarted with the Resume Move command. Immediate Stop Conditions The Immediate_Stop bit makes a 0 1 transition in the Network Output Data. An inactive-to-active transition on an input configured as an E-Stop Input. A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be issued before moves are allowed in that direction again. If the limit that is reached is opposite the direction of travel, a Reset Errors command does not have to be issued. Note that it is possible to start a move while a CW or CCW Limit Switch is active as long as the direction of travel is opposite that of the activated Limit Switch. For example, it is possible to start a CW Registration Move while the CCW Limit Switch is active. AMCI By IDEC Corporation 25

26 MOTION CONTROL ISMD23E2 User Manual Indexed Moves All of the moves that have been explained in the chapter up to this point can be started by a transition on one of the inputs instead of a command from the network. If the Indexed Move bit is set when the command is issued, the ISMD23E2 will not run the move until the configured input makes an inactive-to-active transition. This allows you to run time critical moves that cannot be reliably started from the network because of messaging time delays. The input must be configured as a Start Indexed Move Input. The move begins with an inactive-to-active transition on the input. Note that an active-to-inactive transition on the input will not stop the move. The move command must stay in the Network Output Data while performing an Indexed Move. The move will not occur if you reset the command word before the input triggers the move. The move can be run multiple times as long as the move command data remains unchanged in the Network Output Data. The move will run on every inactive-to-active transition on the physical input if a move is not currently in progress. Once a move is triggered, the Start Indexed Move Input is ignored by the ISMD23E2 until the triggered move is finished. As stated above, a move can be run multiple times as long at the move command data remains unchanged. If you wish to program a second move and run it as an Indexed Move type, then you must have a 0 1 transition on the move command bit before the new parameters are accepted. The easiest way to accomplish this is by writing a value of zero to the command word between issuing move commands. A Jog Move that is started as an Indexed Move will come to a controlled stop when the command bit in the Network Output Data is reset to zero. It is possible to perform an indexed Registration Move by configuring two inputs for their respective functions. The first input, configured as a Start Indexed Move Input, starts the move and the second, configured as a Stop Jog or Registration Move Input causes the registration function to occur. You cannot issue a Hold Command with the Indexed set and have the Hold Command trigger on the inactive-to-active transition of a physical input. Hold Commands are always acted upon as soon as they are accepted from the Network Output Data. You cannot issue an Immediate Stop Command with the Indexed set and have the Immediate Stop Command trigger on the inactive-to-active transition of a physical input. Immediate Stop Commands are always acted upon as soon as they are accepted from the Network Output Data. If you need this functionality, consider programming the physical input as an E-Stop Input. You cannot issue a Clear Error Command with the Indexed set and have the Clear Error Command trigger on the inactiveto-active transition of a physical input. Clear Error Commands are always acted upon as soon as they are accepted from the Network Output Data. Controlling Moves In Progress Each ISMD23E2 has the ability to place a running move on hold and later resume the move if an error did not occur while the move was in its Hold state. One potential application for this feature is bringing a move to a controlled stop when your controller senses an end-of-stock condition. The move can be put in its Hold state until the stock is replenished and then the move can be resumed. Note that you do not have to resume a move once it has been placed in its Hold state. You can place a move in its Hold state to prematurely end the move with a controlled stop and issue a new move of any type from the stopped position. The figure below shows a profile of a move that is placed in its Hold state and later resumed. SPEED Move Complete Jog Moves Position Held for a length of time. Move resumes when Resume activates. Figure R2.11 Hold/Resume a Move Profile POSITION Jog Moves can be placed in a Hold state and resumed if error conditions, such as programming errors, have not occurred. New Acceleration, Deceleration, and Programmed Speed parameters can be written to the ISMD23E2 while a Jog Move is in its hold state. If these parameters are accepted without error, the move can be resumed and it will use the new parameter values. 26 AMCI BY IDEC CORPORATION

27 ISMD23E2 User Manual MOTION CONTROL Registration Moves Registration Moves can be brought to a controlled stop with the Hold bit, but they cannot be restarted. Absolute and Relative Moves Absolute and Relative Moves can be placed in a Hold state and resumed if error conditions, such as programming errors, have not occurred. New Acceleration, Deceleration, and Programmed Speed parameters can be written to the ISMD23E2 while these moves are in their hold states. If the parameters are accepted without error, the move can be resumed and it will use the new parameter values. Note that a change to the Target Position is ignored. AMCI By IDEC Corporation 27

28 MOTION CONTROL ISMD23E2 User Manual Notes: 28 AMCI BY IDEC CORPORATION

29 REFERENCE 3: HOMING AN ISMD23E2 Introduction This chapter explains the various ways of homing an ISMD23E2. Inputs used to home the unit are introduced and diagrams that show how the unit responds to a homing command are given. Definition of Home Position The Home Position is any position on your machine that you can sense and stop at. Once at the Home Position, the motor position register of an ISMD23E2 must be set to an appropriate value. If you use the unit s CW/CCW Find Home commands, the motor position register will automatically be set to zero once the home position is reached. The Encoder Position register will also be reset to zero if the encoder is available and enabled. Defining a Home Position is completely optional. Some applications, such as those that use an ISMD23E2 for speed control, don t require position data at all. With the exception of Absolute Moves, an ISMD23E2 can still perform all of its move commands if the Home Position is not defined. Position Preset One of the ways to define the Home Position is to issue the Preset Position command over the network. On units with integral encoders, both the motor position and the encoder position can be preset separately, and the motor position can be preset to the encoder position. The motor and encoder position values can be preset anywhere in the range of 8,388,607 to +8,388,607. When presetting the motor position to the encoder position, the programmed Steps per Turn and Counts per Turn parameter values are used to scale the encoder position before the motor position is set to it. For example, assume that the Encoder Counts per Turn is programmed to 4,096, and the Motor Steps per Turn is programmed to 2,000. If the encoder position is 4,096 when the preset command is issued, the motor position will be set to 2,000. CW/CCW Find Home Commands The other choice is to use the drive s Find Home commands to order the ISMD23E2 to find the Home Position based on sensors brought into the unit. The CW Find Home command begins searching by rotating the motor shaft in the clockwise direction and ends when the home sensor triggers while the ISMD23E2 is rotating in the clockwise direction at the starting speed. The CCW Find Home command operates in the same way but starts and ends with motion in the counter-clockwise direction. Homing Inputs Either or both of the physical DC inputs can be used when homing the drive. A Backplane Proximity bit is also available in the network output data that can be used to control when the home input is acted upon. This is typically used in applications where the home input is triggered multiple times in a machine cycle, and the system need to control which trigger is acted upon. Physical Inputs Home Input: This input is used to define the actual home position of the machine. CW Limit Switch Input: This input is used to prevent overtravel in the clockwise direction. CCW Limit Switch Input: This input is used to prevent overtravel in the counter-clockwise direction. Network Data Input Backplane_Proximity_: An ISMD23E2 can be configured to ignore changes on the physical homing input until the Backplane_Proximity_ makes a 0 1 transition. The ISMD23E2 will home on the next inactive-to-active change on the physical input once this transition occurs. You must program your host to control the state of this bit. This bit is not used by default, and must be activated when you configure the ISMD23E2 before is can be used. If you decide to activate this bit when you configure the unit and then never set the Backplane_Proximity_ to a 1 while homing the ISMD23E2, the unit will never act on the physical Home Input and the homing routine will fail. AMCI By IDEC Corporation 29

30 HOMING AN ISMD23E2 ISMD23E2 User Manual Homing Configurations A ISMD23E2 must have one of its DC inputs configured as the home input before one of the CW/CCW Find Home commands can be issued. 1) You do not have to configure and use CW or CCW Limits. If you choose to configure the unit this way, then the ISMD23E2 has no way to automatically prevent over travel during a homing operation. In linear applications, you must prevent over travel by some external means, or ensure that the homing command is issued in the direction that will result in reaching the homing input directly. 2) You can use a bit in the Network Output Data (the Backplane_Proximity_) as a home proximity input. Using this bit is completely optional and prevents the Home Input from being acted upon until the Backplane_Proximity_ makes a 0 1 transition. Homing Profiles Home Input Only Profile The CW Find Home command is used in all of these examples. The CCW Find Home command will generate the same profiles in the opposite direction. Figure R3.1 below shows the move profile generated by a CW Find Home command when you use the Home Input without the Backplane_Proximity_. (CW) Home Limit Switch SPEED POSITION (CCW) Figure R3.1 Home Input Profile 1) Acceleration from the configured Starting Speed to the Programmed Speed 2) Run at the Programmed Speed until the Home Input activates 3) Deceleration to the Starting Speed and stop, followed by a two second delay. 4) Acceleration to the Programmed Speed opposite to the requested direction. 5) Run opposite the requested direction until the Home Input transitions from Active to Inactive 6) Deceleration to the Starting Speed and stop, followed by a two second delay. 7) Return to the Home Input at the configured Starting Speed. Stop when the Home Input transitions from inactive to active. If the Home Input is active when the command is issued, the move profile begins at step 5 above. 30 AMCI BY IDEC CORPORATION

31 ISMD23E2 User Manual HOMING AN ISMD23E2 Profile with Backplane_Proximity_ Figure R3.2 below shows the move profile generated by a CW Find Home command when you use the Home Input with Backplane_Proximity_. (CW) Home Input Home Proximity Active Home Input SPEED POSITION (CCW) Figure R3.2 Homing with Proximity 1) Acceleration from the configured Starting Speed to the Programmed Speed 2) Run at the Programmed Speed 3) Ignores the Home Input because Backplane_Proximity_ has not made a 0 1 transition. 4) Deceleration towards the Starting Speed when the Backplane_Proximity_ transitions from 0 to 1. The axis will stop as soon as the Home Input becomes active. 5) The Starting Speed is the minimum speed the profile will run at. If the axis decelerates to the Starting Speed before reaching the Home Input, it will continue at this speed. Figure R3.2 shows the Backplane_Proximity_ staying active until the ISMD23E2 reaches its home position. This is valid, but does not have to occur. As stated in step 4, the ISMD23E2 starts to hunt for the home position as soon as the Backplane_Proximity_ makes a 0 1 transition. Profile with Overtravel Limit Figure R3.3 below shows the move profile generated by a CW Find Home command when you use: CW Overtravel Limit Home Input without the Backplane_Proximity_ The profile is generated when you encounter an overtravel limit in the direction of travel. (In this example, hitting the CW limit while traveling in the CW direction.) The ISMD23E2 will stop and issue a Home Invalid error to your host if you activate the overtravel limit associated with travel in the opposite direction. i.e. Activating the CCW limit during a CW Find Home command. This can occur if the overtravel limits are not wired to the ISMD23E2 correctly, or if both overtravel limits are activated while the unit is trying to find the home position. (CW) Home Limit Switch CW Overtravel Limit SPEED POSITION (CCW) Figure R3.3 Profile with Overtravel Limit 1) Acceleration from the configured Starting Speed to the Programmed Speed 2) Run at the Programmed Speed AMCI By IDEC Corporation 31

32 HOMING AN ISMD23E2 ISMD23E2 User Manual 3) Hit CW Limit and immediately stop, followed by a two second delay. 4) Acceleration to the Programmed Speed opposite to the requested direction. 5) Run opposite the requested direction until the Home Input transitions from Active to Inactive 6) Deceleration to the Starting Speed and stop, followed by a two second delay. 7) Return to the Home Input at the configured Starting Speed. Stop when the Home Input transitions from Inactive to Active. If the overtravel limit is active when the Find Home Command is issued, the profile will begin at step 4. Controlling Find Home Commands In Progress Controlled Stop Conditions The move completes without error. You toggle the Hold_Move control bit in the Network Output Data. This will abort the command and the axis will decelerate at the programmed rate until it reaches the Starting Speed. At this point, the motor will stop. Note that Find Home commands cannot be restarted once held. Immediate Stop Conditions The Immediate Stop bit makes a 0 1 transition in the Network Output Data. An inactive-to-active transition on an input configured as an E-Stop Input. The overtravel limit associated with travel in the opposite direction is activated. i.e. Activating the CCW limit during a CW Find Home command. This can occur if the overtravel limits are not wired to the ISMD23E2 correctly, or if both overtravel limits are activated while the unit is trying to find the home position. 32 AMCI BY IDEC CORPORATION

33 TASK 1: INSTALLING THE ISMD23E2 1.1 Location IP50 Rated Units (ISMD23E2-M12) ISMD23E2 units that are IP50 rated are suitable for use in an industrial environment that meet the following criteria: Only non-conductive pollutants normally exist in the environment. It is expected that these pollutants will become conductive temporarily if condensation occurs. Transient voltages are controlled and do not exceed the impulse voltage capability of the product s insulation. These criteria are equivalent to the Pollution Degree 2 and Over Voltage Category II designations of the International Electrotechnical Commission (IEC) IP64 Rated Units (ISMD23E2-M12S) ISMD23E2 units that are IP64 rated are suitable for use in an industrial environment that meet the following criteria: Conductive and non-conductive pollutants occur. It is expected that all pollutants will become conductive temporarily if condensation occurs. Transient voltages are controlled and do not exceed the impulse voltage capability of the product s insulation. These criteria are equivalent to the Pollution Degree 3 and Over Voltage Category II designations of the International Electrotechnical Commission (IEC). 1.2 Safe Handling Guidelines Prevent Electrostatic Damage Electrostatic discharge can damage the ISMD23E2. Follow these guidelines when handling the unit. 1) Touch a grounded object to discharge static potential before handling the unit. 2) Work in a static-safe environment whenever possible. 3) Wear an approved wrist-strap grounding device whenever possible. 4) Do not touch the pins of the network connectors or I/O connector. 5) Do not disassemble the unit 6) Store the unit in its shipping box when it is not in use Prevent Debris From Entering the Unit While mounting devices, be sure that all debris (metal chips, wire strands, tapping liquids, etc.) is prevented from falling into the unit, specifically into the M12 connectors. Debris may cause damage to the unit or unintended machine operation with possible personal injury Remove Power Before Servicing in a Hazardous Environment Remove power before removing or installing any ISMD23E2 units in a hazardous environment. 1.3 Operating Temperature Guidelines Due to the onboard electronics, the maximum operating temperature of the ISMD23E2 is limited to 203 F/95 C. The motor by itself has a maximum operating temperature of 266 F/130 C. Depending on the operating current setting, move profiles, idle time, and the idle current reduction setting, it is possible to exceed these temperatures in a thermally isolated environment. As explained in the mounting section, mounting the ISMD23E2 to a large metal heatsink is the best way to limit the operating temperature of the device. Operating temperature should be monitored during system startup to verify that the maximum motor temperature remains below its 203 F/95 C specification. ISMD23E2 devices have an onboard thermistor and will remove motor current if the operating temperature exceeds this limit. Ovetemperature faults are also reported in the Network Input Data. AMCI By IDEC Corporation 33

34 INSTALLING THE ISMD23E2 ISMD23E2 User Manual 1.4 Mounting All ISMD23E2 motors have flanges on the front of the motor for mounting. This flange also acts as a heatsink, so motors should be mounted on a large, unpainted metal surface. Mounting a motor in this fashion will allow a significant amount of heat to be dissipated away from the motor, which will increase the unit s life by reducing its operating temperature. If you cannot mount the motor on a large metal surface, you may need to install a fan to force cooling air over the ISMD23E2. Motors should be mounted using the heaviest hardware possible. These motors can produce high torques and accelerations that may weaken and shear inadequate mounting hardware. 1) The motor case must be grounded for proper operation. This is usually accomplished through its mounting hardware. If you suspect a problem with your installation, such as mounting the motor to a painted surface, then run a bonding wire from the motor to a solid earth ground point near it. Use a minimum #8 gauge stranded wire or 1/2 wire braid as the grounding wire. 2) Do not disassemble any stepper motor. A significant reduction in motor performance will result ISMD23E2 Outline Drawing 0.06" ±0.01" (1.5 ±0.3) S S A 0.81" ±0.04" (20.6 ±1) 0.001" (0.03) 0.003" A (0.08) 1.60" (40.6) Max. Optional Nitrile Shaft Seal (Option P ) 1.520" ±0.005" (38.61 ± 0.13) 1.856" ±0.008" (47.14 ±0.2) 2.25" max (57 max) Motor Part Number ISMD23E2-130(E,A)-M12(S) ISMD23E2-240(E,A)-M12(S) 0.19" ±0.01" (4.8 ±0.3) Length 3.93" (99.8) 4.73" (120.1) ( ( ) ) 1.856" ±0.008" (47.14 ±0.2) 2.25" max. (57 max.) Section S S (3X Scale) 4: 0.18" ( 4: ) 0.0 Port 2 Port 1 Power & Inputs Module Status Network Status Power: 24 to 48 Vdc Pin 3: Tx Pin 2: +Rx Pin 4: Rx Pin 1: +Tx Pin 3: DC Common Pin 4: Input 2 Pin 5: DCPowerAUX ETHERNET Por ts 1 & 2 Figure T1.1 ISMD23E2 Outline Drawing POWER & INPUTS Pin 2: Input 1 Pin 1: DCPowerMAIN ISMD23E2 Mounting An ISMD23E2-M12 unit is not water tight. Its IP50 rating makes it acceptable for use in dusty environments with occasional condensation. The ISMD23E2-M12 should be mounted in such a way that condensation will naturally drain off of the unit instead of pooling at the motor shaft or on the motor laminations. The ISMD23E2-M12S is not water tight. Its IP64 rating makes it acceptable for use in dusty environments, environments with condensation, and environments where the unit may be exposed to splashing water. ISMD23E2-M12S units should be mounted in such a way that condensation and liquids will naturally drain off of the unit instead of pooling on the motor laminations. 34 AMCI BY IDEC CORPORATION

35 ISMD23E2 User Manual INSTALLING THE ISMD23E Connecting the Load Care must be exercised when connecting your load to the stepper motor. Even small shaft misalignments can cause large loading effects on the bearings of the motor and load. The use of a flexible coupler is strongly recommended whenever possible. Maximum radial load is 19 lbs. (85 N) at the end of the shaft. Maximum axial load is 3.37 lbs. (15 N) Internal encoders are mounted on the end of the motor shaft that is internal to the unit. Excessive axial load may cause encoder mis-alignment and damage to the unit. This type of damage is not covered under warranty. 1.5 Network Connectors Connector Pinout Figure T1.2 shows the Ethernet connector pinout when viewed from the back of the ISMD23E2. The Ethernet ports on the units are auto-sense ports that will automatically switch between 10baseT and 100baseT depending on the network equipment they are attached to. The ports also have auto switch capability. This means that a standard cable can be used when connecting the ISMD23E2 to any device, including a personal computer. Pin 3: Tx Pin 4: Rx Pin 2: +Rx Pin 1: +Tx ETHERNET Ports 1 & 2 Figure T1.2 M12 Ethernet Connector Pinout The connector is a standard female four pin D-coded M12 connector that is rated to IP67 when the mate is properly attached. The ISMD23E2 units have two ethernet ports. Either port can be used to attach the ISMD23E2 unit to the network Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market, all of which will work with the ISMD23E2 provided that the manufacturer follows the connector and Ethernet standards. IDEC offers the following mating connector and cordsets that mate with the Ethernet port connectors. IDEC # IMS-28 ICNER-5M Description Mating connector for Ethernet port connector. Screw terminal connections. 6 to 8 mm dia. cable. Straight, IP67 rated when properly installed. Molded cordset for Ethernet connector. 5 meters in length. Straight M12 4 pin D-coded to RJ-45 connector. Wired to TIA/EIA-568B. IP67 rated when properly installed. Table T1.1 Compatible Ethernet Connectors and Cordsets TIA/EIA-568 Color Codes There are two color codes in common use when wiring Ethernet connections with twisted pairs. Either one of these standards is acceptable. The ICNER-5M cable available from IDEC follows the 568B standard. Note that accidently reversing the Tx/Rx pairs will not affect the operation of the ISMD23E2. The ISMD23E2 has an auto-switch port that will automatically adjust for swapped pairs. Signal 568A Color 568B Color +Transmit (+Tx) White/Green Tracer White/Orange tracer Transmit ( Tx) Solid Green Solid Orange +Receive (+Rx) White/Orange Tracer White/Green Tracer Receive ( Rx) Solid Orange Solid Green Table T1.2 TIA/EIA Color Codes AMCI By IDEC Corporation 35

36 INSTALLING THE ISMD23E2 ISMD23E2 User Manual 1.6 Power and I/O Connector Figure T1.3 shows the power connector pinout when viewed from the back of the ISMD23E2. The connector is a male, five pin, A-coded, M12 connector that is IP67 rated when its mate is properly installed. Pin 3: DC Common Pin 4: Input 2 Pin 2: Input 1 Pin 1: DCPower MAIN POWER & INPUTS Figure T1.3 M12 Ethernet Connector Pinout Digital inputs on the ISMD23E2 units are single ended and referenced to the DC Common pin. There are two power pins. Pin 5: DCPower AUX DCPower MAIN powers both the control electronics and the motor. DCPower AUX powers only the control electronics, which includes the encoder if it is available. Using the DCPower AUX pin is optional. If your application requires you to cut power to your motor under some conditions, using the DCPower AUX pin allows you to cut power to your motor without losing your network connection. If the unit was ordered with an encoder, the DCPower AUX pin will also maintain power to the encoder. If the motor shaft is rotated while motor power is removed, the encoder position will update. (The motor position will not update.) Once power is restored to the motor, a Preset Position command can be issued to restore the correct motor position without having to go through a homing sequence. If Stall Detection is enabled on the ISMD23E2, the unit will set the Stall_Detected bit (Status Word 1, bit 14) if the motor shaft rotated more than forty-five degrees with power removed Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market, all of which will work with the ISMD23E2 provided that the manufacturer follows the connector and Ethernet standards. IDEC offers the following mating connector and cordsets that mate with the power connector. IDEC # IMS-31 ICNPL-5M Description Mating connector for Power Connector. Female, 5 pin A-coded. Screw terminal connections. 6 to 8 mm dia. cable. Straight, IP67 rated when properly installed. 5-position, 18 AWG. Connector: Straight M12, A-coded, Female to 2 inch flying leads, 0.28 stripped. Cable length: 5 m. IP67 rated when properly installed. Table T1.3 Compatible Power Connectors and Cordsets Note that the ICNPL-5M cordset is manufactured with 18AWG wires. This is the suggested minimum gauge wire when using the ISMD23E2. If you use a different cordset, verify the gauge of the wire before making your purchase. 36 AMCI BY IDEC CORPORATION

37 ISMD23E2 User Manual INSTALLING THE ISMD23E2 1.7 Power Wiring The ISMD23E2 accepts 24 to 48Vdc as its input power. IDEC strongly suggests using 18 AWG or larger wire for the power connections. The IMS-31 connector will accept up to 18 gauge wire. Do not apply 120 Vac to any pins of the ISMD23E2. If this occurs, the unit will be damaged and you will void the unit s warranty. Figure T1.4 below shows how to wire power to the ISMD23E2 units. Note that Pin 5, DCPower AUX, is only used when you introduce a circuit for removing power from the motor. Colors in parentheses are the appropriate wire color of the ICNPL-5M cable. +24Vdc to +48Vdc Power Supply Pin 3: DC Common (BLU) Pin 4: Input 2 Pin 5: DCPowerAUX Pin 1: DCPowerMAIN (BRN) POWER & INPUTS Pin 2: Input 1 +24Vdc to +48Vdc Power Supply Power Control Circuit Figure T1.4 M12 Power Wiring Pin 3: DC Common (BLU) Pin 4: Input 2 Pin 5: DCPowerAUX (GRY) Pin 1: DCPowerMAIN (BRN) POWER & INPUTS Pin 2: Input Input Wiring Inputs 1 and 2 are single ended inputs that share the DC Common return pin. They accept 3.5 to 27 Vdc without the need for an external current limiting resistor. Figure T1.5 below shows how to wire discrete DC sourcing and sinking sensors to inputs 1 and 2 of the ISMD23E2. Colors in parentheses are the appropriate wire color of the ICNPL-5M cable. PNP Sourcing Sensor + Out (WHT or BLK) (BRN) Input1 or Input2 DC Common + 5 to 24 Vdc NPN Sinking Sensor + Out (WHT or BLK) (BRN) R PULLUP Input1 or Input2 DC Common + 5 to 24 Vdc Figure T1.5 Input Wiring AMCI By IDEC Corporation 37

38 INSTALLING THE ISMD23E2 ISMD23E2 User Manual Cable Shields Because they are low power signals, cabling from the sensor to the ISMD23E2 should be done using a twisted pair cable with an overall shield. The shield should be grounded at the end when the signal is generated, which is the sensor end. If this is not practical, the shield should be grounded to the same ground bus as the ISMD23E2. Input 1 Input Optocoupler Sinking Sensors Require a Pull Up Resistor Sinking output sensors require an external pull up resistor because inputs 1 and 2 of the ISMD23E2 also sink current. Table T1.1 below shows the values of pull up resistors that will allow the ISMD23E2 input to activate along with the current that the sensor must be able to sink when it is active. Input Voltage Pull Up Resistor Sensor Current When Active Input 2 Input Optocoupler DC Common Figure T1.6 Schematic: Inputs 1 & ohm 16.7 ma kilohm 8.6 ma kilohm 6.3 ma Table T1.1 Pull Up Resistor The logical states of the sensor and ISMD23E2 input will be reversed. The ISMD23E2 input is off when the sensor is active. You can set the logic state of the ISMD23E2 input when you configure the unit. 1.9 Ethernet Connections The ISMD23E2 has two Ethernet ports with a built-in Ethernet switch connecting the two. Either port can be used to attach the unit to the network. The second port allows you to daisy-chain two devices together instead of running cables for both back to your IDEC controller. For example, if two units are located some distance from your controller, then you need only run one cable from your controller to the first unit. The second unit can then be attached to the first with a short cable. Connections are made through ethernet cables with M12 connectors. Section 1.5.2, Compatible Connectors and Cordsets on page 35, lists the IDEC connector and cordset for this unit. 38 AMCI BY IDEC CORPORATION

39 TASK 2: SET THE IP ADDRESS Introduction This section is intended for the engineer or technician responsible for setting the IP address of an ISMD23E Determine the Best Method for Setting the IP Address There are two methods for setting the IP address on an ISMD23E2. Table T2.1 below outlines the available methods and when you can use them. Method Use Factory Default Settings Use the AMCI by IDEC Ethernet Tool Restrictions 1) The machine must use xxx subnet. 2) The address must be available. No restrictions on use. The software can be used to set the ISMD23E2 to any IPv4 address. The IP address will be stored in nonvolatile memory and used on subsequent power-ups. Table T2.1 Methods for Setting the IP Address Starting page There is a MAC address label on each ISMD23E2 which has a writable surface. There is room on the label for writing the programmed IP address of the unit. It is a best practice to use this label to document the IP address of the unit in case it is ever repurposed. 2.2a Use Factory Default Settings The factory default address for the ISMD23E2 is with a subnet mask of The easiest way to verify this address is with the ping command as described in steps A.3 and A.4 of the Optional Task Configure Your Network Interfaces which starts on page 65. If the ISMD23E2 does not respond to this address then it may take some effort to determine the correct address. There is a label on the drive that lists the MAC address of the device. There is space on the label for noting the IP address of the device if it is changed. If the address was not documented, a program called Wireshark ( can be used to determine the address of the ISMD23E2. Task Complete The remainder of this chapter can be skipped, as it contains alternate methods of setting the IP address of an ISMD23E2. 2.2b Use the AMCI by IDEC Ethernet Tool PREREQUISITE: You must know the present IP address. The factory default address is PREREQUISITE: Task 1.7: Power Wiring found on page 37. You must be able to power the ISMD23E2. PREREQUISITE: Task 1.9: Ethernet Connections found on page 38. You must be able to attach your ISMD23E2 to your computer. PREREQUISITE: Optional Task A: Configure Your Network Interfaces. (page 65) The network interfaces on your computer must be correctly configured before you can communicate with an ISMD23E2. 2.2b.1 Verify that Your IDEC Controller is Disconnected from the ISMD23E2 Successfully changing the IP address of the ISMD23E2 is fundamental to the operation of the unit. While performing this operation, the computer that is running the Ethernet tool should be the only device that can establish communications with the ISMD23E2. 2.2b.2 Apply or Cycle Power to the ISMD23E2 Cycling power to the ISMD23E2 will reset any connections it may have had with the IDEC host controller. 2.2b.3 If need be, download the AMCI by IDEC Ethernet Tool 1) Visit 2) Click Products -> Automation -> AMCI Motion Controls 3) Select the Motor+Drive+Controller category 4) Click on the Download tab 5) Select the Ethernet Tool and download it to your computer. 6) Unzip the file to any location on your computer. AMCI By IDEC Corporation 39

40 SET THE IP ADDRESS ISMD23E2 User Manual 2.2b.4 If need be, install the AMCI by IDEC Ethernet Tool Once downloaded, simply extract the program from the ZIP file and run the program to install the AMCI by IDEC Ethernet software tool on your computer. The software installs as most products do, giving you the option to change the file locations before installing the utility. Once the install is complete, a link to the utility is available on the Start Menu. The install process only copies the utility to the designated location and creates links to the Start Menu. No changes are made to the registry settings of the computer. 2.2b.5 Start the AMCI by IDEC Ethernet Tool Double click on the utility s icon. A welcome screen similar to the one in figure T2.1 below will appear. 2.2b.6 Press the [SCAN] button and Connect to the ISMD23E2 Figure T2.1 Net Configurator Welcome Screen Pressing the [Scan] button will open the window shown in figure T2.2. The ISMD23E2 will appear in the scan list after a few seconds only if the unit and your network interface are on the same subnet. Figure T2.2 Scan for ISMD23E2 Once the ISMD23E2 appears in the list, double click on the IP Address of the ISMD23E2. The Ethernet Tool will connect to the unit. Optionally, from the main screen, you can enter the IP address of the ISMD23E2 and press the [Connect] button. If the unit is found, the Ethernet Tool will directly connect with the unit. 2.2b.7 Set the IP Address, Subnet Mask, and Default Gateway Enter your desired values into the IP Address, Subnet Mask, and Default Gateway fields. The Default Gateway setting is not optional! It must be set to a valid address on the chosen subnet. If you do not have a required value for it, set the Default Gateway to the IP address of your FC6A controller. 2.2b.8 Write the New IP Address to the ISMD23E2 Click on the [Set IP Address] button. If there is an error in the settings, the utility will tell you what is wrong. Once all parameter values are correct, the utility will write the new IP address settings to the unit. These settings are saved to nonvolatile memory. 2.2b.9 Remove Power from the ISMD23E2 The new IP address will not be used until power to the ISMD23E2 has been cycled. Task Complete 40 AMCI BY IDEC CORPORATION

41 TASK 3: WINDLDR 8.5 PROJECT SETUP Introduction The following task adds the ISMD23E2 to a WindLDR 8.5+ project. (WindLDR versions 8.5+ is required.) This involves adding the ISMD23E2 to the Remote Host List and then configure Modbus TCP connection requests. Before adding an ISMD23E2 to a new project, the controller must be defined. Refer to IDEC manuals and help files for information on accomplishing this task. 3.1 Add the ISMD23E2 to the Remote Host List Bring up the project window in the Work Space area on the left of the window. If need be, select the View Tab, and verify that the Project Window icon is enabled. (Property Sheet and Cross Reference are disabled in figure T3.1 below) Select the Project Window tab in the bottom of the Work Space area Double click on the Remote Host List in the Project Window to open the Remote Host List screen Click on the [New] button to open the Remote Host screen. Figure T3.1 WindLDR Remote Host List AMCI By IDEC Corporation 41

42 WINDLDR 8.5 PROJECT SETUP ISMD23E2 User Manual Enter the IP Address Information. Enter the IP Address of the ISMD23E2. The default address is You can enter a Host Name if you have configured a DNS server for the IDEC controller, which is beyond the scope of this manual. Set the Port: field to 502, which is the default port used by the Modbus TCP protocol You can add a Comment:, such as the name of the ISMD23E2 in the project. This step is optional. Figure T3.2 Remote Host List Entry Screen Click on the [Add] button to add the ISMD23E2 to the Remote Host List Repeat steps and for each ISMD23E2 that must be added to the project Click on the [Close] button to close the Remote Host screen Close the Remote Host List screen. 3.2 Configure the Connection Settings for the ISMD23E2 FC6A processors support a maximum of eight communication channels on the Ethernet port. At least one of the communications channels must be configured to service Modbus TCP Client communications From the WindLDR menu, select Configuration > Connection Settings. The Function Area Settings dialog box will open, with the Connection Settings view selected. The eight communication channels are shown. Note that the default Communication Mode for all channels is Maintenance Communication Server. 42 AMCI BY IDEC CORPORATION

43 ISMD23E2 User Manual WINDLDR 8.5 PROJECT SETUP Set the Communications Mode for the selected channel to Modbus TCP Client Click on the Communications Mode cell of the selected port. A drop down menu will appear. (See figure T3.3 below.) In this menu, select Modbus TCP Client. The Modbus TCP Client dialog box will appear. Figure T3.3 Connection Settings Configure the Modbus TCP Client Requests Two requests are required to communicate with the ISMD23E2. One request reads data from the ISMD23E2 and the other writes data to the ISMD23E2. In addition to these requests, there are three setting areas that affect the communication channel as a whole. Request Execution Settings: The Request Execution Device checkbox is typically left unchecked so that the FC6A communicates with the ISMD23E2 continuously. If checked, communications is controlled by internal relays or data register bits. If your application requires you to enable this option, refer to the FC6A help file or the FC6A Series Communications Manual for additional information. The Synchronize with auto ping checkbox is typically left unchecked. If your application requires you to enable this option, refer to the FC6A help file or the FC6A Series Communications Manual for additional information. Error Status: Error status information should be collected on each communication request. Select the Use radio button and set a data register address in the text box. All IDEC sample programs use register D49240 as the first error status register. The Use a single DR for all communication requests checkbox should be left unchecked so that error data on each request is collected individually. The number of data registers consumed will be equal to the number of requests on the channel, starting at the specified address. The Update error status only when communication fails checkbox is left unchecked in all IDEC sample programs. This setting allows the sample programs to act when communications is established. Communication Settings: If needed, click on the [Communication Settings] button. A dialog box will open that allows you to set the Receive Timeout and Transmission Wait Time values. These setting are application specific and depend on network loading. Default values have been tested by AMCI and IDEC. Click on the [OK] button to close the dialog box. Read Request: Set the following values to read values from the ISMD23E2. Function Code: Click inside the cell and select 04 Read Input Registers. Master Device Address: Depends on the axis being controlled. See table T3.1 below to determine the correct address. Machine Axis Starting Data Register Address Machine Axis Starting Data Register Address 1 D D D D D D D D D D D D49110 Table T3.1 Master Device Addresses: Read Input Registers Data Size: 10 Remote Host No.: Click inside the cell to change it into a drop down menu control. Click on the down arrow and select the proper device that was configured in step 3.1, Add the ISMD23E2 to the Remote Host List, above. AMCI By IDEC Corporation 43

44 WINDLDR 8.5 PROJECT SETUP ISMD23E2 User Manual Slave Number: Not used by the SMD23E2. Set to 1. Modbus Slave Address: The remaining fields are filled in automatically Write Request: Set the following values to write values to the ISMD23E2. Function Code: Click inside the cell and select 16 Preset Multiple Registers. Master Device Address: Depends on the axis being controlled. See table T3.1 below to determine the correct address. Machine Axis Starting Data Register Address Machine Axis Starting Data Register Address 1 D D D D D D D D D D D D49230 Table T3.2 Master Device Addresses: Read Input Registers Data Size: 10 Remote Host No.: Click inside the cell to change it into a drop down menu control. Click on the down arrow to open the list and select the proper device that was configured in step 3.1, Add the ISMD23E2 to the Remote Host List, above. Slave Number: Not used by the SMD23E2. Set to 1. Modbus Slave Address: The remaining fields are filled in automatically. Figure T3.4 below shows the Modbus TCP Client dialog box once it is fully populated. Figure T3.4 Modbus TCP Client Configuration Screen 44 AMCI BY IDEC CORPORATION

45 TASK 4: INSTALLING CUSTOM MACROS Introduction IDEC has created User-defined Macros for configuring the ISMD23E2 and most of the commands. These macros simplify the configuration and control of an ISMD23E2. This task covers how to add these macros to a WindLDR 8.5+ project. 4.1 Download the Custom Macro File 1) Visit 2) Click Products -> Automation -> AMCI Motion Controls 3) Select the Motor+Drive+Controller category 4) Click on the Download tab 5) Select the custom macro file and download it to your computer. 6) Unzip the file to any location on your computer. 4.2 Add the Macros to a New or Existing Project Open the Import User-defined Macro dialog box. In the Project Window, if necessary, double click on Programs in order to make User-defined Macro visible. Right click on User-defined Macro and select Import from the resulting menu. In the Open dialog box, browse to the folder that contains the file you downloaded and unzipped in step 4.2 above. Double click on the file name to open the Import User-defined Macro dialog box Import the macros into your program. Click on the checkboxes next to the macros required for your project. You can import all of them if you so choose. Once the macros are selected, click on the [OK] button to import them. You can repeat the steps in 4.2 to import additional macros at any time. Figure T4.1 Importing User-defined Macros AMCI By IDEC Corporation 45

46 INSTALLING CUSTOM MACROS ISMD23E2 User Manual Notes 46 AMCI BY IDEC CORPORATION

47 TASK 5: USING A CUSTOM MACRO IN WINDLDR 5.1 Verify Memory Usage The following address ranges are used by the IDEC supplied macros. You should check the registers currently being used in your project against this list and make adjustments as necessary. Note that registers D49000 through D49239 are the same addresses listed in the WindLDR 8.5 Project Setup Task starting on page 43. Address Range Use Comments D48000 to D48999 Internal to Macros D49000 to D49009 Axis 1 D49010 to D49019 Axis 2 D49020 to D49029 Axis 3 D49030 to D49039 Axis 4 D49040 to D49049 Axis 5 D49050 to D49059 Axis 6 D49060 to D49069 Axis 7 D49070 to D49079 Axis 8 D49080 to D49089 Axis 9 D49090 to D49099 Axis 10 D49100 to D49109 Axis 11 D49110 to D49119 Axis 12 D49120 to D49129 Axis 1 D49130 to D49139 Axis 2 D49140 to D49149 Axis 3 D49150 to D49159 Axis 4 D49160 to D49169 Axis 5 D49170 to D49179 Axis 6 D49180 to D49189 Axis 7 D49190 to D49199 Axis 8 D49200 to D49209 Axis 9 D49210 to D49219 Axis 10 D49220 to D49229 Axis 11 D49230 to D49239 Axis 12 D49240 to D49499 Modbus TCP Communications D49500 to D49619 Read Registers Buffer D49620 to D49999 Macro User Data M14500 to M14747 Macro User Data M14750 to M14997 Program Control s These registers are used internally by the macros. Using registers in this range for any other purpose may result in unexpected operation. Read Registers (Input data from the ISMD23E2. Updated through Modbus Function Code 04, Read Registers.) Data registers assigned to unused axes can be used for other purposes in the program. Preset Multiple Registers (Output data to the ISMD23E2. Updated through Modbus Function Code 16, Preset Multiple Registers.) Data registers assigned to unused axes can be used for other purposes in the program. These registers used when monitoring and controlling Modbus TCP communications with the ISMD23E2. Memory space used to buffer the data read from the ISMD23E2 controllers. Any registers can be used, but all sample programs use addresses in this range. Note that this area is enough to buffer 12 axes. Unused registers can be used to store macro user data. Used to store data that is sent to an ISMD23E2 through the macros. Any registers can be used, but all sample programs use addresses in this range. Addresses used to store data that is sent to an ISMD23E2 through the macros. Any internal relays can be used, but all sample programs use internal relays in this range. Internal relays used to store move states and control program flow. Any internal relays can be used, but all sample programs use internal relays in this range. Table T5.1 Reserved Memory Addresses 5.2 Verify/Alter Internal Relay Keep Settings By default, the M internal relays are cleared at startup. The M14500 to M14747 internal relays listed above are used to store configuration and command bit settings and must be maintained between power cycles. Use the Configuration > Memory Backup screen to configure the FC6A to keep previous settings at startup Open the Function Area Settings Dialog Box. From the WindLDR menu bar, select Configuration > Memory Backup. The Function Area Settings dialog box for Configure Keep/Clear Settings appears. AMCI By IDEC Corporation 47

48 USING A CUSTOM MACRO IN WINDLDR ISMD23E2 User Manual Verify or Alter the Keep Settings. Under the M10000 to M17497 heading of the Internal Relay section, select either the Keep All or Keep Specified Range radio button. If your program does not rely on internal relays being reset on startup, then you can select Keep All. If your program does rely on this behavior, select the Keep Specified Range radio button and specify a range of M14500 to M You can only specify one range when using the Keep Specified Range feature. If you are already using this feature, adjust this setting as necessary. Figure T5.1 Internal Relay Keep Settings 5.3 Define the Memory Map to the Macro s Argument Devices. Macros contain a list of arguments that are used to pass data into, and out of, the macro. While adding the macro to your ladder logic, the list of arguments must be mapped to actual Device Addresses in the processor s memory. Sample programs available from IDEC use Device Addresses starting at register D49620 and internal relay M14500 for these purposes. Even though it is possible to map from one register or relay to multiple macros, sample programs from IDEC use separate blocks of registers for each instance of a macro in the ladder logic program. This aids in debugging by preventing a change in value for one macro from inadvertently affecting another. Before mapping registers and relays to their macros, tag name and comment fields can be added through the Tag Editor dialog box. This simplifies register lookup when adding them to the macro. The Tag Editor in the WindLDR program is used to add tag names and comments to the Device Addresses. Consult IDEC manuals and help files for information on using the Tag Editor. 48 AMCI BY IDEC CORPORATION

49 ISMD23E2 User Manual USING A CUSTOM MACRO IN WINDLDR Arguments to the Configure ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) A2 D (Data Register) Word 0 to 6 Input 1 Function. See Table T5.3 below A3 D (Data Register) Word 0 to 6 Input 2 Function. See Table T5.3 below Input 1 Active State A4 M (Internal Relay) 0/1 0 = NC Input, 1 = NO Input Input 2 Active State A5 M (Internal Relay) 0/1 0 = NC Input, 1 = NO Input Encoder Enable (Encoder must be present on device) A6 M (Internal Relay) 0/1 0 = Encoder Disabled, 1 = Encoder Enable Backplane_Proximity_ Enable 0 = Backplane Home Proximity is not used A7 M (Internal Relay) 0/1 1 = Backplane Home Proximity is used See Network Data Input found on page 29 for a description of this bit. This bit is reset in most applications. A8 M (Internal Relay) 0/1 Stall_Detect_Enable 0 = Stall detection disabled 1 = Stall detection enabled Stall detection is only available on units with an integral encoder that has been enabled. (Argument A6 = 1) A9 M (Internal Relay) 0/1 Antiresonance_Disable 0 = Antiresonance enabled 1 = Antiresonance disabled A10 D (Data Register) Word 0 to 999 Starting Speed. All moves begin and end at this speed A11 D (Data Register) Word 200 to 32,767 Motor Steps per Turn A12 D (Data Register) Word See Description A13 D (Data Register) Word 0 to 100 A14 D (Data Register) Word 10 to 34 Table T5.2 Arguments to the Configure ISMD23E2 Macro Encoder Counts per Turn For Incremental Encoder: 1,024, 2,048, or 4,096 For Absolute Encoder: 2,048 Idle Current, as a percentage of Motor Current 0 = Current removed when idle 100 = No current reduction when idle Motor Current in steps of 0.1 amps. 10 = 1.0 amp motor current 34 = 3.4 amp motor current Value Function Description 0 General Purpose Input The input is not used in any of the functions of the ISMD23E2, but it s status is reported in the Network Data. This allows the input to be used as a discrete DC input to the host controller. 1 CW Limit Input defines the mechanical end point for CW motion. 2 CCW Limit Input defines the mechanical end point for CCW motion. 3 Start Indexed Move Starts the move that is currently located in the output registers Start Indexed Move / Capture Encoder Value Stop Jog or Registration Move Stop Jog or Registration Move & Capture Encoder Value When the encoder is enabled on an ISMD23E2, the encoder position value is captured whenever this input transitions. An inactive-to-active state transition will also trigger an Indexed Move if one is pending in the ISMD23E2. Brings a Jog or Registration Move to a controlled stop. When the encoder is enabled on an ISMD23E2, the encoder position value is captured when the input triggers a controlled stop to a Jog or Registration move. 5 Emergency Stop All motion is immediately stopped when this input makes an inactive-to-active transition. 6 Home Used to define the home position of the machine. Table T5.3 Input Function Definitions AMCI By IDEC Corporation 49

50 USING A CUSTOM MACRO IN WINDLDR ISMD23E2 User Manual Arguments to the Absolute Move ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word A2 M (Internal Relay) 0/1 A3 D (Data Register) Long A4 D (Data Register) Long Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size Arguments to the Relative Move ISMD23E2 Macro 8,388,607 to +8,388,607 Starting Speed to 2,999,999 Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Move Trigger Type 0 = Normal Move. Move begins as soon as data is accepted. 1 = Indexed Move. Move triggered by discrete input. See Indexed Moves found on page 26 for additional information. Target Position Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) A5 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A6 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. Acceleration/Deceleration Jerk 0 = Linear Acceleration A7 D (Data Register) Word 0 to = Triangular Acceleration 2 to 5,000 = Trapezoidal Acceleration Table T5.4 Arguments to the Absolute Move ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word A2 M (Internal Relay) 0/1 A3 D (Data Register) Long A4 D (Data Register) Long A5 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A6 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. Acceleration/Deceleration Jerk 0 = Linear Acceleration A7 D (Data Register) Word 0 to = Triangular Acceleration 2 to 5,000 = Trapezoidal Acceleration Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size Arguments to the Hold ISMD23E2 Macro 8,388,607 to +8,388,607 Starting Speed to 2,999,999 Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Move Trigger Type 0 = Normal Move. Move begins as soon as data is accepted. 1 = Indexed Move. Move triggered by discrete input. See Indexed Moves found on page 26 for additional information. Target Distance Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) Table T5.5 Arguments to the Relative Move ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Table T5.6 Arguments to the Hold ISMD23E2 Macro 50 AMCI BY IDEC CORPORATION

51 ISMD23E2 User Manual USING A CUSTOM MACRO IN WINDLDR Arguments to the Resume ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Arguments to the Immediate Stop ISMD23E2 Macro Table T5.7 Arguments to the Resume ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Arguments to the Home CW ISMD23E2 Macro Table T5.8 Arguments to the Immediate Stop ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word A2 M (Internal Relay) 0/1 A3 D (Data Register) Long Starting Speed to 2,999,999 Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Move Trigger Type 0 = Normal Move. Move begins as soon as data is accepted. 1 = Indexed Move. Move triggered by discrete input. See Indexed Moves found on page 26 for additional information. Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) A4 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A5 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. Acceleration/Deceleration Jerk 0 = Linear Acceleration A6 D (Data Register) Word 0 to = Triangular Acceleration 2 to 5,000 = Trapezoidal Acceleration Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size. Table T5.9 Arguments to the Home CW ISMD23E2 Macro AMCI By IDEC Corporation 51

52 USING A CUSTOM MACRO IN WINDLDR ISMD23E2 User Manual Arguments to the Home CCW ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word A2 M (Internal Relay) 0/1 A3 D (Data Register) Long Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size Arguments to the Jog CW ISMD23E2 Macro Starting Speed to 2,999,999 Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Move Trigger Type 0 = Normal Move. Move begins as soon as data is accepted. 1 = Indexed Move. Move triggered by discrete input. See Indexed Moves found on page 26 for additional information. Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) A4 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A5 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. Acceleration/Deceleration Jerk 0 = Linear Acceleration A6 D (Data Register) Word 0 to = Triangular Acceleration 2 to 5,000 = Trapezoidal Acceleration Table T5.10 Arguments to the Home CCW ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word A2 D (Data Register) Long Starting Speed to 2,999,999 Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) A3 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A4 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. Acceleration/Deceleration Jerk 0 = Linear Acceleration A5 D (Data Register) Word 0 to = Triangular Acceleration 2 to 5,000 = Trapezoidal Acceleration Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size. Table T5.11 Arguments to the Jog CW ISMD23E2 Macro 52 AMCI BY IDEC CORPORATION

53 ISMD23E2 User Manual USING A CUSTOM MACRO IN WINDLDR Arguments to the Registration Move CW ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Move Trigger Type 0 = Normal Move. Move begins as soon as data is accepted. A2 M (Internal Relay) 0/1 1 = Indexed Move. Move triggered by discrete input. See Indexed Moves found on page 26 for additional information. A3 D (Data Register) Long 0 to 8,388,607 Stopping Distance. A4 D (Data Register) Long Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size Arguments to the Jog CCW ISMD23E2 Macro Starting Speed to 2,999,999 Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) A5 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A6 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. A7 D (Data Register) Long 0 to 8,388,607 Minimum Registration Move Distance. Table T5.12 Arguments to the Registration Move CW Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word A2 D (Data Register) Long Starting Speed to 2,999,999 Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) A3 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A4 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. Acceleration/Deceleration Jerk 0 = Linear Acceleration A5 D (Data Register) Word 0 to = Triangular Acceleration 2 to 5,000 = Trapezoidal Acceleration Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size. Table T5.13 Arguments to the Jog CCW ISMD23E2 Macro AMCI By IDEC Corporation 53

54 USING A CUSTOM MACRO IN WINDLDR ISMD23E2 User Manual Arguments to the Registration Move CCW ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Move Trigger Type 0 = Normal Move. Move begins as soon as data is accepted. A2 M (Internal Relay) 0/1 1 = Indexed Move. Move triggered by discrete input. See Indexed Moves found on page 26 for additional information. A3 D (Data Register) Long 0 to 8,388,607 Stopping Distance. A4 D (Data Register) Long Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size Arguments to the Preset Position ISMD23E2 Macro Starting Speed to 2,999,999 Programmed Speed. (Starting Speed is one of the Arguments to the Configure ISMD23E2 Macro found on page 49.) A5 D (Data Register) Word 1 to 5000 Acceleration in steps/millisecond/second. A6 D (Data Register) Word 1 to 5000 Deceleration in steps/millisecond/second. A7 D (Data Register) Long 0 to 8,388,607 Minimum Registration Move Distance. Table T5.14 Arguments to the Registration Move CCW Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word A2 D (Data Register) Long 8,388,607 to +8,388,607 Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Desired Motor Position value. Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size Arguments to the Clear Errors ISMD23E2 Macro Table T5.15 Arguments to the Preset Position Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Arguments to the Drive Enable ISMD23E2 Macro Table T5.16 Arguments to the Clear Errors ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Table T5.17 Arguments to the Drive Enable ISMD23E2 Macro 54 AMCI BY IDEC CORPORATION

55 ISMD23E2 User Manual USING A CUSTOM MACRO IN WINDLDR Arguments to the Drive Disable ISMD23E2 Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Arguments to the Preset Encoder Position ISMD23E2 Macro Table T5.18 Arguments to the Drive Disable ISMD23E2 Macro Argument Device Type Device Size Range of Values Description Starting Address of the output registers assigned to the ISMD23E2 A1 D (Data Register) Word during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Save to Flash 0 = Save calculated offset to flash memory. A2 M (Internal Relay) 0/1 1 = Do not save calculated offset in flash memory. This bit is only acted upon when the ISMD23E2 contains an absolute encoder. A3 D (Data Register) Long 0 to 8,388,607 Stopping Distance. Long integer values consume two consecutive data registers and the starting address must be even. For example, if argument A3 begins at address D49622, the next available address would be D (A3 would consume both D49622 and D49623.) An address value of D49621, being odd, would be an invalid setting for any argument with a Long device size Arguments to the Preset to Encoder ISMD23E2 Macro Table T5.19 Arguments to the Preset Encoder Position Macro Argument Device Type Device Size Range of Values Description A1 D (Data Register) Word Starting Address of the output registers assigned to the ISMD23E2 during Modbus TCP Client configuration. (D49120 to D49230 in the sample programs.) Table T5.20 Arguments to the Preset to Encoder ISMD23E2 Macro AMCI By IDEC Corporation 55

56 USING A CUSTOM MACRO IN WINDLDR ISMD23E2 User Manual 5.4 Add a User-defined Macro to Ladder Logic Adding a User-defined Macro to your ladder logic requires you to set the initial conditions for the rung, select the macro, and map the macro s arguments to the Device Addresses chosen in the previous step Set initial conditions Most macros should be triggered once to initiate a data transfer to the ISMD23E2. Therefore, a Single Output Up instruction, (SOTU), should be added to the rung as part of the condition. The exceptions to this guideline are the Jog and Registration Moves Choose the desired macro to add to the ladder. To add a User-defined Macro to the ladder, first, right-click where you wish to add the macro. In the popup menu that appears, hover over the Macro Instructions item until a second menu appears. From that menu, select UMACRO (User-defined Macro). The UMACRO (User-defined Macro) dialog box will appear. Figure T5.2 Selecting a User-defined Macro Select the Proper Macro by Macro Number Each macro is assigned a number between 0 and 255. When user-defined macros are viewed in the Project Window, these numbers are shown before the name of the macro. (See figure T5.2 above for an example.) To select the proper macro, enter the correct number in the S1 (User-defined Macro Number): field and press the [Tab] key. The program will open a confirmation window stating that the current settings will be lost and the argument list will be updated. Click on the [Yes] button to confirm the change. 56 AMCI BY IDEC CORPORATION

57 ISMD23E2 User Manual USING A CUSTOM MACRO IN WINDLDR Map Arguments to Device Addresses (Continuing from the previous step.) The UMACRO (User-defined Macro) dialog box now displays a list of the macro s arguments along with their required Device Type. The Tag Name fields are used to map the Device Addresses to the macro s arguments. If a tag name has been defined, this name can be typed directly into the field. Optionally, the actual Device Address can be entered into the field. Finally the ellipsis button [...] can be clicked to open the Tag Name Editor dialog box. Once opened, is can be used to chose the desired Device Address. Figure T5.3 below shows a UMACRO (User-defined Macro) dialog box for the Configure ISMD23E2 macro after Device Addresses have been mapped to the macro s arguments. Figure T5.3 Argument Assignments AMCI By IDEC Corporation 57

58 USING A CUSTOM MACRO IN WINDLDR ISMD23E2 User Manual Notes 58 AMCI BY IDEC CORPORATION

59 REFERENCE 4: ISMD23E2 INPUT DATA FORMATS Configuration Mode Input Data Format The format for the Network Input Data when an ISMD23E2 is in Configuration Mode is shown below. Modbus TCP Register Configuration Data 0 Mirror of Output Configuration Word 0 1 Mirror of Output Configuration Word Mirror of Starting Speed 4 Mirror of Motor Steps/Turn Mirror of Encoder_Resolution 7 Mirror of Idle Current Percentage 8 Mirror of Motor Current (X10) or Status message when writing Configuration data to flash memory. Configuration Word 0 Format (Word 0) Table R4.1 Network Input Data Format: Configuration Mode When the Configuration data is valid and accepted, this word mirrors the value of the Configuration Word 0 written to the ISMD23E2. When the configuration data written to it is invalid, the unit remains in Command Mode and sets the Configuration_Error bit. The Configuration_Error bit is bit 13 of the first word written back to the IDEC host controller while in Command Mode. The format of this word when an error exists is explained in the Status Word 0 Format section starting on page 60. Invalid Configurations The following configurations are invalid: 1) Setting any of the reserved bits in the configuration words. 2) Setting any parameter to a value outside of its valid range. This includes setting the Starting Speed to a value greater than ) You configure two or more inputs to have the same function, such as two CW Limit Switches. (An error does not occur if both are configured as General Purpose Inputs.) 4) Setting the Stall Detection Enable without configuring the ISMD23E2 to use its built in encoder. 5) Setting the Input Configuration bits for any input to 111. See table R6.3 on page 73 for more information. When using the IDEC User-defined Macro for configuration, the input configuration value must be between 0 and 6. Factory Default Values The following configuration parameter settings are programmed at the factory. Configuration Word 0 = 0x8400 Input 1 Function: General Purpose Input Input 2 Function: General Purpose Input Encoder: Enabled if an encoder was ordered as part of the unit. Backplane Proximity : Disabled Stall Detection: Disabled Antiresonance: Enabled Configuration Word 1 = 0x0383 Input 1 Active Level: High. (NO contacts) Input 2 Active Level: High. (NO contacts) Data Format: IDEC Remaining Parameters Starting Speed: 1 Motor Steps/Turn: 2,048 Encoder Pulses/Turn: 2,048 Idle Current Percentages: 20% Motor Current: 2.8 Arms AMCI By IDEC Corporation 59

60 ISMD23E2 INPUT DATA FORMATS ISMD23E2 User Manual Command Mode Input Data Format The format for the Network Input Data when the ISMD23E2 is in Command Mode is shown below. Register Command Mode Input Data 0 Status Word 0 1 Status Word bit Motor Position: Upper 16 bits 3 32 bit Motor Position: Lower 16 bits 4 32 bit Encoder Position: Upper 16 bits 5 32 bit Encoder Position: Lower 16 bits 6 32 bit Trapped Encoder Position: Upper 16 bits 7 32 bit Trapped Encoder Position: Lower 16 bits 8 Programmed Motor Current (X10) 9 Value of Acceleration Jerk Parameter Status Word 0 Format Table R4.2 Network Input Data Format: Command Mode Moving_CW Moving_CCW In_Hold_State Stopped At_Home Accelerating Decelerating Move_Complete In_Assembled_Mode Waiting_For_Assembled_Segment Position_Invalid Input_Error Command_Error Configuration_Error Module_OK Mode_Flag Figure R4.1 Command Mode: Status Word 0 Format 0: Moving_CW Set to 1 when the motor is rotating in a clockwise direction. 1: Moving_CCW Set to 1 when the motor is rotating in a counter-clockwise direction. 2: In_Hold_State Set to 1 when a move command has been successfully brought into a Hold State. Hold States are explained is the Controlling Moves In Progress section starting on page 22. 3: Stopped Set to 1 when the motor is not in motion. Note that this is stopped for any reason, not just a completed move. For example, an Immediate Stop command during a move will set this bit to 1, but the Move_Complete, (bit 7 above) will not be set. 4: At_Home Set to 1 when a homing command has completed successfully, 0 at all other times. 5: Accelerating Set to 1 when the present move is accelerating. Set to 0 at all other times. 6: Decelerating Set to 1 when the present move is decelerating. Set to 0 at all other times. 60 AMCI BY IDEC CORPORATION

61 ISMD23E2 User Manual ISMD23E2 INPUT DATA FORMATS 7: Move_Complete Set to 1 when the present move command completes without error. This bit is reset to 0 when the next move command is written to the ISMD23E2, when the position is preset, or a Reset Errors command is issued to the unit. This bit is also set along with the Command_Error bit ( 12 of this word), when any Jog Move or Registration Move parameters are outside of their valid ranges. This bit is not set on a command error for any other type of command. Finally, this bit is not set at the end of a homing operation. 8: In_Assembled_Mode The ISMD23E2 sets this bit to signal the host that it is ready to accept assembled move profile programming data. Assembled Moves do not have User-defined Macros at this point in time. The use of this bit is explained in the Assembled Move Programming section of this manual starting on page 69. 9: Waiting_For_Assembled_Segment The ISMD23E2 sets this bit to tell the host that it is ready to accept the data for the next segment of your assembled move profile. Assembled Moves do not have User-defined Macros at this point in time. The use of this bit is explained in the Assembled Move Programming section of this manual starting on page : Position_Invalid 1 when: A configuration is written to the ISMD23E2 The motor position has not been preset or the machine has not been homed The network connection has been lost and re-established An Immediate or Emergency Stop has occurred An End Limit Switch has been reached A motor stall has been detected. Absolute moves cannot be performed while the position is invalid. 11: Input_Error 1 when: Emergency Stop input has been activated Either of the End Limit Switches activates during any move operation except for homing Starting a Jog Move in the same direction as an active End Limit Switch If the opposite End Limit Switch is reached during a homing operation. This bit is reset by a Reset Errors command. The format of the command is given on page : Command_Error 1 when an invalid command has been written to the ISMD23E2. This bit can only be reset by the Reset_Errors bit, Command Word 0, : Configuration_Error 1 on power up before a valid configuration has been written to the ISMD23E2 or after any invalid configuration has been written to the unit. 0 when the ISMD23E2 has a valid configuration in memory. 14: Module_OK 1 when the ISMD23E2 is operating without a fault, 0 when an internal fault condition exists. 15: Mode_Flag Set to 1 if in Configuration Mode, and set to 0 if in Command Mode. Status Word 1 Format When in Command Mode, bit 13 of word 0 is set to 1 when there is a configuration error. When in Configuration Mode, bit 13 of word 0 is set to 1 when stall detection is enabled. When using the state of bit 13 of word 0 in your logic, always include the state of bit 15 of word 0 to assure that you are only acting on the bit when in the proper mode IN1_Active IN2_Active Temperature_Above_90 C Connection_Was_Lost Driver_Fault Invalid_Jog_Change Limit_Condition Heartbeat_ Absolute_Encoder_Error Command_Acknowledged Stall_Detected Drive_Is_Enabled Figure R4.2 Command Mode: Status Word 1 Format AMCI By IDEC Corporation 61

62 ISMD23E2 INPUT DATA FORMATS ISMD23E2 User Manual 0: IN1_Active 1 when Input 1 is in its active state. The active state of the input is programmed as explained in the Configuration Word 1 Format section starting on page 73. 1: IN2_Active 1 when Input 2 is in its active state. The active state of the input is programmed as explained in the Configuration Word 1 Format section starting on page 73. s 2-3: Reserved Will always equal zero. 4: Temperature_Above_90 C This bit is set to 1 when the processor internal temperature exceeds 90 C. At this point, the heatsink temperature is typically near 83 C. If this bit trips often and you want to lower the operating temperature of the unit, consider changing how the device is mounted, or installing a fan to force additional airflow through the device. 5: Reserved Will always equal zero. 6: Connection_Was_Lost If the physical network connection is lost at any time, this bit will be set when the connection is re-established. The Input_Error bit will also be set. Note that this bit is not set if the communication loss is on the protocol level, not the physical level. 7: Drive_Fault If the drive section of the ISMD23E2 is enabled, this bit will be a 1 during a Over Temperature Fault. This fault can only be cleared by cycling power to the ISMD23E2. 8: Reserved Will always equal zero. 9: Invalid_Jog_Change Set during a Jog Move if parameters are changed to invalid values. Parameters that can be changed during a Jog Move are Programmed Speed, Acceleration, and Deceleration. 10: Limit_Condition This bit is set if an End Limit Switch is reached during a move. This bit will be reset when the Limit Switch changes from its active to inactive state, or when a Reset Errors Command is issued. 11: Heartbeat_ This bit will change state approximately every 500 milliseconds. Monitor this bit to verify that the unit and network connection are operating correctly. Note that this bit is only available while the Networked Drive is in Command Mode. 12: Absolute Encoder Error Only available on units with the absolute encoder, this bit is set to 1 under the following conditions: The shaft was subject to acceleration in excess of 160,000 /sec 2 (444.4 rev/sec 2 ) while power was removed from the unit The internal battery is fully discharged or damaged The unit itself is damaged If this bit is set, cycle power to the unit. If the bit remains set, contact IDEC technical support for assistance. 13: Command_Acknowledge Normally 0. This bit is set to 1 when one of the following commands completes successfully: Preset Position Preset Encoder Position Reset Errors This bit resets to 0 when the command bit is reset to 0 by the host controller. 14: Stall_Detected Set to 1 when a motor stall has been detected. 15: Drive_Is_Enabled Set to 1 when the motor drive section of the Networked Drive is enabled and current is available to the motor. Set to 0 when the motor drive section is disabled. If this bit is set to 1, the motor current remains present when an E-Stop input is active. Motor current is removed if there is a Drive_Fault ( 7 above) regardless of the state of this bit. Motor current is also removed if the motor is idle and Idle Current Reduction is programmed to its To 0% setting. Notes on Clearing a Drive Fault A Drive Fault occurs when there is an over temperature condition. When a Drive Fault occurs, the ISMD23E2 sets bit 7 of the Status Word 1 word in the Network Input Data. The only way to clear this fault is to lower the temperature of the motor and cycle power to the ISMD23E2. 62 AMCI BY IDEC CORPORATION

63 TASK 6: ADDITIONAL LOGIC Introduction The IDEC User-defined Macros simplify issuing commands to the ISMD23E2. Monitoring the state of the ISMD23E2 once the command is issued is application specific and must be written. The ISMD23E2 sample program available on the IDEC website shows one method of monitoring the ISMD23E2 and controlling when commands are issued. The following sections give guidelines for writing the additional logic needed to control an ISMD23E Buffer Input Data It is common practice to buffer the input data from the ISMD23E2 to guarantee that it does not change during a program scan. IDEC sample programs use a BMOV instruction to copy data from the Modbus TCP registers to a buffer in the D49500 to D49999 range. This instruction is conditioned by an NC relay tied to a bit defined as Always_False. This buffers the data on every program scan and must occur before the data is used in the program. 6.2 Command s Must Transition Commands are only accepted when the command bit makes a 0 1 transition. The easiest way to meet this requirement is to write a value of zero into the first of the output registers assigned to the ISMD23E2 before writing the next command. These registers are in the range of D49120 to D49239 in the IDEC sample program. See T5.1, Reserved Memory Addresses on page 47 for the memory layout used by the IDEC sample program. This condition also applies when switching from Configuration Mode to Command Mode. Assume a bit is set in the first of the registers assigned to the ISMD23E2 while in Configuration Mode. If a switch is made to Command Mode with the same bit set, the command will not occur because the bit must transition between writes to the unit Commands that do not cause motion: Clear Errors, preset commands, etc. In the unlikely event that a command in this group is issued successively, its command bit must be reset and held for at least one Modbus TCP update. The time it must be held is dependent on the amount of TCP traffic in your application Jog and Registration Moves Unlike other motion commands, the Jog and Registration Moves only occur while the command bit is set. Your program must monitor machine conditions to determine when to reset the command bit to zero. Once the command bit is off, your program should monitor the Moving_CW, Moving_CCW, or Stopped status bits to verify that the axis has stopped moving before issuing another command Absolute Move, Relative Move, and Find Home Once issued, these commands will run to their completion regardless of the state of their command bit. Once the command has been issued, your program can monitor the Moving_CW, Moving_CCW, or Stopped status bits to verify the axis is in motion and reset the command word at that point. Unless the commanded move is very short, a network update will occur while motion is occurring and the ISMD23E2 will see the reset command bit. As with the Jog and Registration Moves, the program should monitor the Moving_CW, Moving_CCW, or Stopped status bits to verify that the axis has stopped moving before issuing another command. AMCI By IDEC Corporation 63

64 ADDITIONAL LOGIC ISMD23E2 User Manual Notes 64 AMCI BY IDEC CORPORATION

65 OPTIONAL TASK A: CONFIGURE YOUR NETWORK INTERFACES A.1 Firewall Settings Firewalls are hardware devices or software that prevent unwanted network connections from occurring. Firewall software is present in Windows XP and above and it may prevent your computer for communicating with the ISMD23E2. Configuring your firewall to allow communication with the ISMD23E2 is beyond the scope of this manual. It may be necessary to temporarily disable any firewall software while using the Ethernet Tool. This is typically done from the Control Panel. You should re-enable the firewall once you have finished using the tool. A.2 Disable All Unused Network Interfaces Routing and default gateway setting on your computer can interfere with the proper operation of the Ethernet Tool. The software uses broadcast packets to locate devices on the network, and sometimes these packets are sent out through the default gateway instead of the interface attached to the ISMD23E2. The easiest way to avoid this problem is to temporarily disable all network interfaces that are not attached to the stepper drive. This includes all wireless interfaces as well as all Bluetooth interfaces. A.3 Configure Your Network Interface Before you can communicate with the ISMD23E2, your network interface must be on the same subnet as the drive. The rest of this procedure assumes you are using the xxx subnet. If you are not, you will have to adjust the given network addresses accordingly. The easiest way to check the current settings for your NIC is with the ipconfig command. For Vista and Windows 7, click on the [Start] button, and type cmd in the Search programs and files text box. Press [Enter] on the keyboard. For Windows 8 and 10, press the [Win+X] keys and select Command Prompt from the resulting popup. There is no need to run the command prompt as the administrator, so do not select Command Prompt (Admin). A DOS like terminal will open. Type in ipconfig, press [Enter] on the keyboard and the computer will return the present Address, Subnet Mask, and Default Gateway for all of your network interfaces. If your present address is xxx, where xxx does not equal 50, and your subnet mask is , then you are ready to configure your ISMD23E2. Figure 0.1 shows the output of an ipconfig command that shows the Local Area Connection 2 interface on the xxx subnet. Figure 0.1 ipconfig Command If your present address in not in the xxx range, type in ncpa.cpl at the command prompt and hit [Enter] on the keyboard. For Vista and Windows 7, this open the Network Connections window. Double click on the appropriate interface. In the window that opens, select Internet Protocol Version 4 (TCP/IP v4) from the list and then click on the [Properties] button. For Windows 8 and 10, this open the Network Connections window. Double click on the appropriate interface. In the window that opens, select Internet Protocol Version 4 (TCP/IP v4) from the list and then click on the [Properties] button. Set the address and subnet mask to appropriate values. ( and will work for an ISMD23E2 that has factory default settings.) The default gateway and DNS server settings can be ignored. AMCI By IDEC Corporation 65

66 CONFIGURE YOUR NETWORK INTERFACES ISMD23E2 User Manual A.4 Test Your Network Interface Going back to the terminal you opened in the last step, type in ping aaa.bbb.ccc.ddd where aaa.bbb.ccc.ddd in the IP address of the ISMD23E2. The computer will ping the unit and the message Reply from aaa.bbb.ccc.ddd: bytes=32 time<10ms TTL=255 should appear four times. If the message Request timed out. or Destination host unreachable appears, then one of four things has occurred: You set a new IP address, but have not yet cycled power to the ISMD23E2 You did not enter the correct address in the ping command. The IP address of the ISMD23E2 is not set correctly. The ISMD23E2 and the computer are not on the same subnet. 66 AMCI BY IDEC CORPORATION

67 REFERENCE 5: ASSEMBLED MOVES Introduction The ISMD23E2 contains functionality that is not programmable through custom macros at this time. This reference section describes this additional functionality. Assembled Moves All of the moves explained so far must be run individually to their completion or must be stopped before another move can begin. The ISMD23E2 also gives you the ability to pre-assemble more complex profiles from a series of relative moves that are then run with a single command. Each Assembled Move consists of two to sixteen segments. Assembled Moves are programmed through a hand shaking protocol that uses the input and output registers assigned to the unit. The protocol is fully described in the Assembled Move Programming section on page 69. Two types of Assembled Moves exist in an ISMD23E2: Blend Move Blend Move - A Blend Move gives you the ability to string multiple relative moves together and run all of them sequentially without stopping the shaft between moves. A Blend Move can be run in either direction, and the direction is set when the command is issued. The direction of motion cannot be reversed within a Blend Move. Dwell Move - A Dwell Move gives you the ability to string multiple relative moves together, and the ISMD23E2 will stop between each move for a programed Dwell Time. Because motion stops between each segment, a Dwell Move allows you to reverse direction during the move. Each Relative Move defines a segment of the Blend Move. The following restrictions apply when programming Blend Moves. 1) Each segment of the Blend Move must be written to the ISMD23E2 before the move can be initiated. The ISMD23E2 supports Blend Moves with up to sixteen segments. 2) Each segment is programmed as a relative move. Blend Moves cannot be programmed with absolute coordinates. 3) All segments run in the same direction. The sign of the target position is ignored and only the magnitude of the target position is used. The move s direction is controlled by the bit pattern used to start the move. If you want to reverse direction during your move, consider using the Dwell Move which is explained starting on page 68. 4) The Programmed Speed of each segment must be greater than or equal to the Starting Speed. 5) The Programmed Speed can be the same between segments. This allows you to chain two segments together. 6) For all segments except for the last one, the programmed position defines the end of the segment. For the last segment, the programmed position defines the end of the move. 7) Once you enter a segment, that segment s programmed acceleration and deceleration values are used to change the speed of the motor. 8) The blend segment must be long enough for the acceleration or deceleration portions of the segment to occur. If the segment is not long enough, the motor speed will jump to the speed of the next segment without acceleration or deceleration. AMCI By IDEC Corporation 67

68 ASSEMBLED MOVES ISMD23E2 User Manual The figure below shows a three segment Blend Move that is run twice. It is first run in the clockwise direction, and then in the counter-clockwise direction. CW a 2 d 3 a 1 d 3 SPEED POSITION d 3 a 1 d 3 a 2 CCW Figure R5.1 Blend Move Controlled Stop Conditions The move completes without error. You toggle the Hold_Move control bit in the Network Output Data. When this occurs, the ISMD23E2 decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the move. Note that your final position will most likely not be the one you commanded. A Blend Move that is brought to a controlled stop with the Hold_Move bit cannot be restarted. The use of the Hold_Move bit is explained in the Controlling Moves In Progress section starting on page 26. Immediate Stop Conditions The Immediate_Stop bit makes a 0 1 transition in the Network Output Data. A positive transition on an input configured as an E-Stop Input. A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be issued before moves are allowed in that direction again. If the limit that is reached is opposite the direction of travel, a Reset Errors command does not have to be issued. Dwell Move 1) The deceleration value programmed with segment 3 is used twice in the segment. Once to decelerate from the Programmed Speed of segment 2 and once again to decelerate at the end of the move. 2) You do not have to preset the position or home the machine before you can use a Blend Move. Because the Blend Move is based on Relative Moves, it can be run from any location. 3) The Blend Move is stored in the internal memory of the ISMD23E2 and can be run multiple times once it is written to the unit. The Blend Move data stays in memory until power is removed, the unit is sent new Configuration Data, or a new Blend or Dwell Move is written to the unit. As described in Saving an Assembled Move in Flash on page 70, it is also possible to save a Blend Move to flash memory. This move is restored on power up and can be run as soon as you can issue the command. 4) There are two control bits used to specify which direction the Blend Move is run in. This gives you the ability to run the Blend Move in either direction. A Dwell Move gives you the ability to string multiple relative moves together and run all of them sequentially with a single start condition. Like a Blend Move, a Dwell Move is programmed into an ISMD23E2 as a series of relative moves before the move is started. Unlike a Blend Move, the motor is stopped between each segment of the Dwell Move for a programed Dwell Time. The Dwell Time is programmed as part of the command that starts the move. The Dwell Time is the same for all segments. Because the motor is stopped between segments, the motor direction can be reversed during the move. The sign of the target position for the segment determines the direction of motion for that segment. Positive segments will result in clockwise shaft rotation while a negative segment will result in a counter-clockwise shaft rotation. 68 AMCI BY IDEC CORPORATION

69 ISMD23E2 User Manual ASSEMBLED MOVES The following figure shows a drilling profile that enters the part in stages and reverses direction during the drilling operation so chips can be relieved from the bit. You could accomplish this Dwell Move with a series of six relative moves that are sent down to the ISMD23E2 sequentially. The two advantages of a Dwell Move in this case are that the ISMD23E2 will be more accurate with the Dwell Time then you can be in your control program, and Dwell Moves simplify your program s logic. CW Segment 1 Segment 3 Segment 5 SPEED POSITION Segment 2 Segment 4 CCW Segment 6 Figure R5.2 Dwell Move 1) You do not have to preset the position or home the machine before you using a Dwell Move. The Dwell Move is based on Relative Moves, and can be run from any location. 2) The Dwell Move is stored in the internal memory of the ISMD23E2 and can be run multiple times once it is written to the unit. The Dwell Move data stays in memory until power is removed, the unit is sent new Configuration Data, or a new Blend or Dwell Move is written to the isdm23e2. As described in Saving an Assembled Move in Flash on page 70, it is also possible to save a Dwell Move to flash memory. This move is restored on power up and can be run as soon as you can issue a command. Controlled Stop Conditions The move completes without error. You toggle the Hold_Move control bit in the Network Output Data. When this occurs, the ISMD23E2 decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the move. Note that your final position will most likely not be the one you commanded. A Dwell Move that is brought to a controlled stop with the Hold_Move bit cannot be restarted. Immediate Stop Conditions The Immediate_Stop bit makes a 0 1 transition in the Network Output Data. A positive transition on an input configured as an E-Stop Input. A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be issued before moves are allowed in that direction again. If the limit that is reached is opposite the direction of travel, a Reset Errors command does not have to be issued. Controlling an Assembled Move In Progress A Blend or Dwell Move can be placed in a Hold state but cannot be resumed. This give you the ability to prematurely end an Assembled Move with a controlled stop. The Assembled Move is not erased from memory and can be run again without having to reprogram it. Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the ISMD23E2 before the move can be run. Segment programming is controlled with two bits in the Network Output Data and two bits in the Network Input Data. Blend and Dwell Moves are programmed in exactly the same way. When you start the move, a bit in the command data determines which type of Assembled Move is run. In the case of a Blend Move, the sign of each segment s Target Position is ignored and all segments are run in the same direction. In the case of a Dwell Move, the sign of each segment s Target Position determines the direction of the segment. For Dwell Moves, the Dwell Time is sent to the ISMD23E2 as part of the command. Control s Output Data Program_Assembled bit (Command Word 0, bit 12) A 0 1 transition on this bit tells the ISMD23E2 that you want to program a Blend or Dwell Move Profile. The ISMD23E2 will respond by setting the In_Assembled_Mode bit in the Network Input Data. At the beginning of the programming cycle, the ISMD23E2 will also set the Waiting_For_Assembled_Segment bit to signify that it is ready for the first segment. AMCI By IDEC Corporation 69

70 ASSEMBLED MOVES ISMD23E2 User Manual Read_Assembled_Data bit (Command Word 0, bit 11) A 0 1 transition on this bit tells the ISMD23E2 that the data for the next segment is available in the remaining data words. Control s Input Data In_Assembled_Mode bit (Status Word 0, bit 8) The ISMD23E2 sets this bit to signal that it is ready to accept segment programming data in the remaining output data words. The actual transfer of segment data is controlled by the Waiting_For_Assembled_Segment and Read_Assembled_Data bits. Waiting_For_Assembled_Segment bit (Status Word 0, bit 9) A 0 1 transition on this bit from the ISMD23E2 is the signal to the host that the ISMD23E2 is ready to accept the data for the next segment. Programming Routine 1) The host sets the Program_Assembled bit in the Network Output Data. 2) The ISMD23E2 responds by setting both the In_Assembled_Mode and Waiting_For_Assembled_Segment bits in the Network Input Data. 3) When the host detects that the Waiting_For_Assembled_Segment bit is set, it writes the data for the first segment in the Network Output Data and sets the Read_Assembled_Data bit. 4) The ISMD23E2 checks the data, and when finished, resets the Waiting_For_Assembled_Segment bit. If an error is detected, it also sets the Command_Error bit. 5) When the host detects that the Waiting_For_Assembled_Segment bit is reset, it resets the Read_Assembled_Data bit. 6) The ISMD23E2 detects that the Read_Assembled_Data bit is reset, and sets the Waiting_For_Assembled_Segment bit to signal that it is ready to accept data for the next segment. 7) Steps 3 to 6 are repeated for the remaining segments until the entire move profile has been entered. The maximum number of segments per profile is sixteen. 8) After the last segment has been transferred, the host exits Assembled Move Programming Mode by resetting the Program_Assembled bit. 9) The ISMD23E2 resets the In_Assembled_Mode and the Waiting_For_Assembled_Segment bits. Saving an Assembled Move in Flash The ISMD23E2 also contains the Save_Assembled_to_Flash bit that allows you to store the Assembled Move in flash memory. This allows you to run the Assembled Move right after power up, without having to go through a programming sequence first. To use this bit, you follow the above programming routine with the Save_Assembled_to_Flash bit set. When you reach step 9 in the sequence, the ISMD23E2 responds by resetting the In_Assembled_Mode and Transmit Blend Move Segments bits as usual and then it will flash the Status LED. If the LED is flashing green, the write to flash memory was successful. If it flashes red, then there was an error in writing the data. In either case, power must be cycled to the ISMD23E2 before you can continue. With a limit of 10,000 write cycles, the design decision that requires you to cycle power to the ISMD23E2 was made to prevent an application from damaging the module by continuously writing to it. Commanding an Assembled Move Three bits in the output data are used to start an Assembled Move. Run_Assembled_Move bit (Command Word 0, bit 13) A 0 1 transition on this bit commands an Assembled move to begin. s in Command Word 1 control the type of move and its direction. Assembled_Move_Type bit (Command Word 1, bit 9) When this bit equals 0, a Blend Move is started on the 0 1 transitionwhen of the Run_Assembled_Move bit. When this bit equals 1, a Dwell Move is started on the transition. The direction of a Blend Move is controlled by the Blend Move Direction bit, (Command s LSW, 4). In a Dwell Move, the Dwell Time between segments is programmed in Word 9 of the command data. Blend_Move_Direction bit (Command Word 0, bit 4) This bit determines the direction of rotation of a Blend Move. Set to 0 for a clockwise Blend Move, 1 for a counter-clockwise Blend Move. 70 AMCI BY IDEC CORPORATION

71 REFERENCE 6: CONFIGURATION MODE DATA FORMAT Introduction This chapter covers the formats of the Network Output Data used to configure the ISMD23E2. An ISMD23E2 requires twenty bytes of Output Data as well as 20 bytes for Input Data. The format of this data is a mix of sixteen bit and thirty-two bit integers. The custom macros supplied by IDEC simplify the configuration and programming of the ISMD23E2 units. The data in this reference is presented as background information to aid in troubleshooting. Modes of Operation An ISMD3E2 has two operating modes, Configuration Mode and Command Mode. You switch between these modes by changing the state of a single bit in the Network Output Data. Configuration Mode Configuration Mode gives you the ability to select the proper configuration for your application without having to set any switches. The ladder logic needed to configure a unit is included in the sample programs available on the IDEC website. This method simplifies change over if the unit ever needs to be replaced. A valid configuration can be saved to the unit s flash memory and the ISMD23E2 will use this as a default configuration on every power up. If you use this method, you can still write down a new configuration to the unit at any time. The new configuration is stored in RAM and is lost on power down unless you issue a command to store the new configuration in flash. Command Mode This mode gives you the ability to program and execute stepper moves, and reset errors when they occur. An ISMD23E2 will always power up in this mode. The command data formats are described in the following chapter. Power Up Behavior An ISMD23E2 will always power up in Command Mode. The ISMD23E2 will use its stored configuration data to configure the unit. The ISMD23E2 will then check for valid network command data and will only enable the motor drive section if the Enable_Drive bit is set. Data Format An ISMD23E2 requires ten words of Output Data as well as ten words of Input Data. These words are broken down into a combination of sixteen and thirty-two bit integers. Thirty-two bit values are transmitted most significant word first (big endian). Table R6.1 below shows the format of the data as it is stored and transmitted. Table R6.1 Position Data Format Examples 32 bit Integer Format Value First Word Second Word 12 0x0000 0x000C -12 0xFFFF 0xFFF4 1,234,567 0x0012 0xD687-7,654,321 0xFF8B 0x344F AMCI By IDEC Corporation 71

72 CONFIGURATION MODE DATA FORMAT ISMD23E2 User Manual Output Data Format The correct format for the Network Output Data when the ISMD23E2 is in Configuration Mode is shown below. Register Configuration Data Range 1024 Configuration Word 0 See below 1025 Configuration Word 1 See below 1026 Reserved Set to zero 1027 Starting Speed (steps/sec) 1 to Motor Steps/Turn 200 to 32, Reserved Set to zero 1030 Encoder_Resolution Set to 1,024, 2,048, or 4,096 for incremental encoder. Set to 2,048 for absolute encoder. If no encoder, set to 2, Idle Current Percentage 0 to 100% 1032 Motor Current (X10) 1 to 34, Represents 0.1 to 3.4 Arms 1033 Reserved Set to zero Configuration Word 0 Format Table R6.2 Network Output Data Format: Configuration Mode Input 1 Function Input 2 Function Use_Encoder Use_Backplane_Proximity Enable_Stall_Detection Disable_Antiresonance Mode Figure R6.1 Configuration Mode: Configuration Word 0 Format s 2-0: Input 1 Function See the table on the following page. s 5-3: Input 2 Function See the table on the following page. s 9-6: Reserved Must equal zero. 10: Use_Encoder 0 when the built-in encoder is not used. 1 to enable the built-in absolute or incremental encoder. Only valid with the ISMD23E2 units that have the built-in encoder. You must also program the Encoder_Resolution parameter in configuration word 6. 11: Use_Backplane_Proximity 0 when the Backplane_Proximity_ is not used when homing the ISMD23E2. 1 when the Backplane_Proximity_ is used when homing the ISMD23E2. Note that this bit is not the Backplane_Proximity_, but enables or disables its operation. Do not use the Backplane_Proximity_ if you only want to home to a Home Limit Switch. (Leave this bit equal to 0.) If you enable this bit and then never turn on the Backplane_Proximity_, the ISMD23E2 will ignore all transitions of the home limit switch and you will not be able to home the ISMD23E2. 12: Reserved Must equal zero. 13: Enable_Stall_Detection 0 disables motor stall detection. 1 enables motor stall detection. Only valid on ISMD23E2 units with built in encoders. The Use_Encoder bit, which is bit 10 of this word, must be also be set to 1. You must also program the Encoder_Resolution parameter in configuration word 6. 14: Disable_Antiresonance 1 disables the antiresonance feature. 0 enables the anti-resonance feature of the ISMD23E2. The Anti-resonance feature will provide smoother operation in most cases. If you are still experiencing resonance problems with this feature enabled, disable this feature and test the machine again. 15: Mode 1 for Configuration Mode Programming, 0 for Command Mode Programming. 72 AMCI BY IDEC CORPORATION

73 ISMD23E2 User Manual CONFIGURATION MODE DATA FORMAT s Function Description General Purpose Input The input is not used in any of the functions of the ISMD23E2, but it s status is reported in the Network Data. This allows the input to be used as a discrete DC input to the host controller CW Limit Input defines the mechanical end point for CW motion CCW Limit Input defines the mechanical end point for CCW motion Start Indexed Move Starts the move that is currently located in the output registers Configuration Word 1 Format Start Indexed Move / Capture Encoder Value Stop Jog or Registration Move Stop Jog or Registration Move & Capture Encoder Value When the encoder is enabled on an ISMD23E2, the encoder position value is captured whenever this input transitions. An inactive-to-active state transition will also trigger an Indexed Move if one is pending in the ISMD23E2. Brings a Jog or Registration Move to a controlled stop. When the encoder is enabled on an ISMD23E2, the encoder position value is captured when the input triggers a controlled stop to a Jog or Registration move Emergency Stop All motion is immediately stopped when this input makes an inactive-to-active transition Home Used to define the home position of the machine Invalid Combination This bit combination is reserved. Table R6.3 Configuration Data: Input Function Selections When using an encoder, you must set bit 10, the Use_Encoder bit. You must also program the Encoder_Resolution parameter in configuration word IN1_Active_Level IN2_Active_Level Read_Present_Configuration Figure R6.2 Configuration Mode: Configuration Word 1 Format 0: IN1_Active_Level Determines the active state of Input 1. Set to 0 if your sensor has Normally Closed (NC) contacts and the input is active when there is no current flow through it. Set to 1 if your sensor has Normally Open (NO) contacts and current flows through the input when it is active. 1: IN2_Active_Level Determines the active state of Input 2. Set to 0 if your sensor has Normally Closed (NC) contacts and the input is active when there is no current flow through it. Set to 1 if your sensor has Normally Open (NO) contacts and current flows through the input when it is active. If you are not using the input, sets its Active_Level bit to 1. The input will then always report as inactive in the network data. s 2-6: Reserved Must be reset to zero. s 7-9: Reserved Must be set to one. These bits control the format of data accepted and transmitted by the ISMD23E2. Then must be set to 111 in order to be compatible with the programming macros published by IDEC. 10: Reserved Must be reset to zero. 11: Read_Present_Configuration If this bit is set when you enter Configuration Mode, the ISMD23E2 responds by placing the present configuration data in the Network Input Data. You cannot write new configuration data to the unit while this bit is set. The format of the Configuration Data is given in the Command Mode Data Format section of this chapter, starting on page 75. AMCI By IDEC Corporation 73

74 CONFIGURATION MODE DATA FORMAT ISMD23E2 User Manual s 15-12: Reserved Must be reset to zero. Notes on Other Configuration Words Changes to the Idle Current only take effect at the end of the first move after re-configuration. 74 AMCI BY IDEC CORPORATION

75 REFERENCE 7: COMMAND MODE DATA FORMAT Introduction This chapter covers the formats of the Network Output Data used to command the ISMD23E2. An ISMD23E2 requires twenty bytes of Output Data as well as 20 bytes for Input Data. The format of this data is a mix of sixteen bit and thirty-two bit integers. The custom macros supplied by IDEC simplify the configuration and programming of the ISMD23E2 units. The data in this reference is presented as background information to aid in troubleshooting. Data Format Thirty-two bit values are transmitted most significant word first (big endian). This is the data format specified by the Modbus specification and used by IDEC controllers. Table R6.1 below shows the format of the data as it is stored and transmitted. Command s Must Transition Table R7.1 Position Data Format Examples 32 bit Integer Format Value First Word Second Word 12 0x0000 0x000C -12 0xFFFF 0xFFF4 1,234,567 0x0012 0xD687-7,654,321 0xFF8B 0x344F Commands are only accepted when the command bit makes a 0 1 transition. The easiest way to do this is to write a value of zero into the Command Word 0 before writing the next command. This condition also applies when switching from Configuration Mode to Command Mode. If a bit is set in Configuration Word 0 while in Configuration Mode and you switch to Command Mode with the same bit set, the command will not occur because the bit must transition between writes to the unit. The command bits are split between 2 sixteen bit words, Command Word 0 and Command Word 1. Only one bit in Command Word 0 can make a 0 1 transition at a time. Output Data Format The following table shows the format of the output network data words when writing command data to the ISMD23E2. Register Function 1024 Command Word Command Word Command Parameters: Word meaning depends on the command set to the ISMD23E2 Figure R7.1 Command Data Format AMCI By IDEC Corporation 75

76 COMMAND MODE DATA FORMAT ISMD23E2 User Manual Command Word Absolute_Move Relative_Move Hold_Move Resume_Move Immediate_Stop Find_Home_CW Find_Home_CCW Jog_CW Jog_CCW Preset Position Reset_Errors Read_Assembled_Data Program_Assembled Run_Assembled_Move Preset_Encoder Mode_Select Figure R7.2 Command Word 0 Format 0: Absolute_Move When this bit makes a 0 1 transition, the ISMD23E2 will perform an Absolute Move using the values in the rest of the command data. The full explanation of an Absolute Move can be found starting on page 23. 1: Relative_Move When this bit makes a 0 1 transition, the ISMD23E2 will perform a Relative Move using the values in the rest of the command data. The full explanation of a Relative Move can be found starting on page 22. 2: Hold_Move When this bit makes a 0 1 transition, the ISMD23E2 will place a move in its hold state. The move will decelerate to its programmed Starting Speed and stop. The move can be completed by using the Resume_Move bit. Use of the Hold_Move and Resume_Move bits can be found in the Controlling Moves In Progress section of this manual starting on page 26. 3: Resume_Move When this bit makes a 0 1 transition, the ISMD23E2 will resume a move that you previously placed in a hold state. Use of the Resume_Move and Hold_Move bits can be found in the Controlling Moves In Progress section of this manual starting on page 26. Note that a move in its hold state need not be resumed. The move is automatically cancelled if another move is started in its place. 4: Immediate_Stop When this bit makes a 0 1 transition, the ISMD23E2 will stop all motion without deceleration. The Motor Position value will become invalid if this bit is set during a move. Setting this bit when a move is not in progress will not cause the Motor Position to become invalid. 5: Find_Home_CW When this bit makes a 0 1 transition, the ISMD23E2 will attempt to move to the Home Limit Switch in the clockwise direction. A full explanation of homing can be found in the Homing an ISMD23E2 reference chapter starting on page 29. 6: Find_Home_CCW When this bit makes a 0 1 transition, the ISMD23E2 will attempt to move to the Home Limit Switch in the counter-clockwise direction. A full explanation of homing can be found in the Homing an ISMD23E2 reference chapter starting on page 29. 7: Jog_CW When this bit makes a 0 1 transition, the ISMD23E2 will run a Jog Move in the clockwise direction. The full explanation of a CW/CCW Jog Move can be found starting on page 23. Registration_Move Command Word 1, 7: When this bit equals 0, and a Jog Move command is issued, it will run as a standard Jog Move. When this bit equals 1 and a Jog Move command is issued, the move will run as a Registration Move. The state of this bit cannot be changed while a Jog Move is in progress. 8: Jog_CCW When this bit makes a 0 1 transition, the ISMD23E2 will run a Jog Move in the counter-clockwise direction. The full explanation of a CW/CCW Jog Move can be found starting on page 23. Registration_Move Command Word 1, 7: When this bit equals 0, and a Jog Move command is issued, it will run as a standard Jog Move. When this bit equals 1 and a Jog Move command is issued, the move will run as a Registration Move. The state of this bit cannot be changed while a Jog Move is in progress. 76 AMCI BY IDEC CORPORATION

77 ISMD23E2 User Manual COMMAND MODE DATA FORMAT 9: Preset_Position When this bit makes a 0 1 transition, the ISMD23E2 will preset the Motor Position. The value depends on the state of the Preset_To_Encoder bit (Command Word 1, bit 13). If the Preset_To_Encoder bit equals 0, the Motor Position is preset to the value stored in Output Words 2 and 3. If the Preset_To_Encoder bit equals 1, the Motor Position is set to: Motor Position = Motor Programmed Steps per Turn Encoder Position Encoder Programmed Pulses per Turn In either case, the Move_Complete bit in the Network Input Data is reset to 0. 10: Reset_Errors When this bit makes a 0 1 transition, the ISMD23E2 will clear all existing command errors and reset the Move_Complete bit in the Network Input Data. This bit does not clear a configuration error or the Position_Invalid status bit. s 11 & 12: Read_Assembled_Data & Program_Assembled These bits are used to program the segments of an Assembled Move before the move can be run. Their use is explained in the Assembled Move Programming section of this manual starting on page : Run_Assembled_Move When this bit makes a 0 1 transition, the ISMD23E2 will run the Assembled Move already stored in memory. Assembled_Move_Type Command Word 1, 9: This bit determines the type of move that is run. When this bit equals 0, a Blend Move is run. When this bit equals 1, a Dwell Move is run. When starting a Dwell Move, the Dwell Time is programmed in word 9 of the Command Data. The value is programmed in milliseconds and can range from 0 to 65,536. Reverse_Blend_Direction Command Word 1, 4: This bit is used to determine the direction that the Blend Move will be run in. When this bit equals 0, the Blend Move runs in the clockwise direction. When this bit equals 1, the Blend Move is run in the counter-clockwise direction. This bit is ignored if a Dwell Move is being run. 14: Preset_Encoder When this bit makes a 0 1 transition, the ISMD23E2 will preset the Encoder Position to the value stored in Output Words 2 and 3. 15: Mode_Select 1 for Configuration Mode Programming 0 for Command Mode Programming. Command Word Motor_Current Reverse_Blend_Direction Save_to_Flash Registration_Move Indexed_Command Assembled_Move_Type Backplane_Proximity_ Preset_to_Encoder Enable_Drive Figure R7.3 Command Word 1 Format 0: Reserved Must equal 0. 1: Motor_Current If reset to 0 when a move command is issued, the motor current will be the value specified when the ISMD23E2 was configured. Set to 1 to program the motor current to the value in word 8 of the command block when a move command is issued. Motor current can be changed during a move as long as this bit is set to 1 during the move. s 3-2: Reserved Must equal 0. 4: Reverse_Blend_Direction When you command a Blend Move to run, this bit determines the direction of rotation. Set to 0 for a clockwise Blend Move, 1 for a counter-clockwise Blend Move. This bit is ignored when running a Dwell Move. AMCI By IDEC Corporation 77

78 COMMAND MODE DATA FORMAT ISMD23E2 User Manual 5: Save_to_Flash - This bit can be used to save a programmed Assembled Move to flash memory or to store the absolute encoder position offset to flash. (The absolute encoder position offset is generated by the Encoder Preset command.) When using this bit to save the programmed Assembled Move to flash memory, this bit must be set when the Program_Assembled bit (Command Word 0, bit 12) makes a 1 0 transition at the end of the programming cycle. The ISMD23E2 responds by flashing the Status LED when the writing is complete. If the LED is flashing green, the write to flash memory was successful. If it flashes red, then there was an error in writing the data. In either case, power must be cycled to the ISMD23E2 before you can continue. This design decision is to protect the flash memory from constant write commands. The flash memory has a minimum of 10,000 write cycles. When using this bit to save the calculated absolute encoder offset value to flash memory, this bit must be set when the Preset Encoder command is issued. ( 14 of Command Word 0 is set to 1, see page 76.) If the offset is stored without error, the unit will respond by setting the Acknowledge bit. ( 13 of Status Word 1 Format, see page page 61.) 6: Reserved Must equal 0. 7: Registration_Move When this bit equals 0, and a Jog Move command is issued, it will run as a standard Jog Move. When this bit equals 1 and a Jog Move command is issued, the move will run as a Registration Move. 8: Indexed_Command If this bit is set when a move command is issued, the ISMD23E2 will not run the move immediately, but will instead wait for an inactive-to-active transition on an input configured as a Start Indexer Move input. The move command data, including this bit, must remain in the Network Output Registers while performing an Indexed Move. 9: Assembled_Move_Type When this bit equals 0, a Blend Move is started when the Run Assembled Move bit, (Command Word 1, 13) makes a 0 1 transition. When this bit equals 1, a Dwell Move is started on the transition. The direction of a Blend Move is controlled by the Reverse_Blend_Direction bit, (Command Word 1, 4). In a Dwell Move, the Dwell Time between segments is programmed in Word 9 of the command data. 10: Reserved Must equal 0. 11: Backplane_Proximity_ When the ISMD23E2 is configured to use the Backplace_Proximity_, the unit will ignore the state of the Home Input as long as this bit equals 0. This bit must equal 1 before a transition on the Home Input can be used to home the machine. Further information on using the Backplace_Proximity_ can be found in the Profile with Backplane_Proximity_ section found on page : Reserved Must equal 0. 13: Preset_to_Encoder Only used when the Preset Motor Position bit (Command Word 0, 9) is set to 1. If this bit equals 0 when the Preset Motor Position bit equals 1, the Motor Position is set to the value contained in words 2 and 3 of the command block. If this bit equals 1 when the Preset Motor Position bit equals 1, the Motor Position is set to: Motor Position Motor Programmed Steps per Turn = Encoder Position Encoder Programmed Pulses per Turn In either case, the Move_Complete bit in the Network Input Data is reset to 0. 14: Reserved Must equal 0. 15: Enable_Drive 0 to disable the motor current, 1 to enable motor current. A valid configuration must be written to the ISMD23E2 before the drive can be enabled. 78 AMCI BY IDEC CORPORATION

79 ISMD23E2 User Manual COMMAND MODE DATA FORMAT Command Blocks The following section lists the output data format for the sixteen different commands. Absolute Move Register Function Units Range Relative Move Hold Move 1024 Command Word 0 0x Command Word 1 See pg Abs. Target Position: Upper 16 bits Combined value between Steps 1027 Abs. Target Position: Lower 16 bits 8,388,607 and +8,388, Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Motor Current 0.1 amps 1 to 34. Ignored if bit 1 of Command Word 1 is not set to Acceleration Jerk 0 to 5000 Table R7.2 Absolute Move Command Block Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Rel. Target Position: Upper 16 bits Combined value between Steps 1027 Rel. Target Position: Lower 16 bits 8,388,607 and +8,388, Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Motor Current 0.1 amps 1 to 34. Ignored if bit 1 of Command Word 1 is not set to Acceleration Jerk 0 to 5000 Table R7.3 Relative Move Command Block Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Unused See Note Below 1027 Unused See Note Below 1028 Unused See Note Below 1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below 1032 Unused See Note Below 1033 Unused See Note Below Table R7.4 Hold Move Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. AMCI By IDEC Corporation 79

80 COMMAND MODE DATA FORMAT ISMD23E2 User Manual Resume Move Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Unused See Note Below 1027 Unused See Note Below 1028 Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Motor Current 0.1 amps 1 to 34. Ignored if bit 1 of Command Word 1 is not set to Acceleration Jerk 0 to 5000 Table R7.5 Resume Move Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. This is typically the case when resuming a move, the words are listed as Unused to highlight that the target position of a held move cannot be changed when the move is resumed. Immediate Stop Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Unused See Note Below 1027 Unused See Note Below 1028 Unused See Note Below 1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below 1032 Unused See Note Below 1033 Unused See Note Below Table R7.6 Immediate Stop Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Find Home CW Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Unused See Note Below 1027 Unused See Note Below 1028 Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Motor Current 0.1 amps 1 to 34. Ignored if bit 1 of Command Word 1 is not set to Acceleration Jerk 0 to 5000 Table R7.7 Find Home CW Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. 80 AMCI BY IDEC CORPORATION

81 ISMD23E2 User Manual COMMAND MODE DATA FORMAT Find Home CCW Table R7.8 Find Home CCW Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Jog CW Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Unused See Note Below 1027 Unused See Note Below 1028 Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Motor Current 0.1 amps 1 to 34. Ignored if bit 1 of Command Word 1 is not set to Acceleration Jerk 0 to 5000 Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg must equal Unused See Note Below 1027 Unused See Note Below 1028 Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Motor Current 0.1 amps 1 to 34. Ignored if bit 1 of Command Word 1 is not set to Acceleration Jerk 0 to 5000 Table R7.9 Jog Move CW Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Registration Move CW Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg must equal Stopping Distance: Upper 16 bits Steps Combined value between 1027 Stopping Distance: Lower 16 bits 0 and +8,388, Programmed Speed: Upper 16 bits Steps/Second Combined value between the configured 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Min. Reg. Move Distance: Upper 16 bits Min. Reg. Move Distance: Lower 16 bits Steps Table R7.10 Registration Move CW Command Block Combined value between 0 and +8,388,607 AMCI By IDEC Corporation 81

82 COMMAND MODE DATA FORMAT ISMD23E2 User Manual Jog CCW Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg. 77 s 7 must equal Unused See Note Below 1027 Unused See Note Below 1028 Programmed Speed: Upper 16 bits Combined value between the Configured Starting Speed Steps/Second 1029 Programmed Speed: Lower 16 bits and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Motor Current 0.1 amps 1 to 34. Ignored if bit 1 of Command Word 1 is not set to Acceleration Jerk 0 to 5000 Table R7.11 Jog CCW Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Registration Move CCW Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg. 77 s 7 must equal Stopping Distance: Upper 16 bits Combined value between Steps 1027 Stopping Distance: Lower 16 bits 0 and +8,388, Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Preset Position Min. Reg. Move Distance: Upper 16 bits Min. Reg. Move Distance: Lower 16 bits Table R7.12 Registration Move CCW Command Block Table R7.13 Preset Position Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Presetting the position resets the Position_Invalid and Move_Complete status bits in the Network Input Data. Steps Combined value between 0 and +8,388,607 Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Position Preset Value: Upper 16 bits Combined value between Steps 1027 Position Preset Value: Lower 16 bits 8,388,607 and +8,388, Unused See Note Below 1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below 1032 Unused See Note Below 1033 Unused See Note Below 82 AMCI BY IDEC CORPORATION

83 ISMD23E2 User Manual COMMAND MODE DATA FORMAT Reset Errors Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg. 77 Set bit 10 to clear motor faults 1026 Unused See Note Below 1027 Unused See Note Below 1028 Unused See Note Below 1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below 1032 Unused See Note Below 1033 Unused See Note Below Table R7.14 Reset Errors Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Resetting errors will also reset the Move_Complete status bit in the Network Input Data. Resetting errors will not reset the Position_Invalid or Configuration_Error bits. Run Assembled Move Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg. 77 Blend Move: 9 = 0, Dwell Move: 9 = 1 If Blend Move, CW move when 4 = 0, CCW move when 4 = Unused See Note Below 1027 Unused See Note Below 1028 Unused See Note Below 1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below 1032 Unused See Note Below 1033 Table R7.15 Run Assembled Move Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Preset Encoder Position Unused with Blend Move Dwell Time with Dwell Move milliseconds 0 to 65,535 Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Encoder Preset Value: Upper 16 bits Combined value between Steps 1027 Encoder Preset Value: Lower 16 bits 8,388,607 and +8,388, Unused See Note Below 1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below 1032 Unused See Note Below 1033 Unused See Note Below Table R7.16 Preset Encoder Position Command Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. AMCI By IDEC Corporation 83

84 COMMAND MODE DATA FORMAT ISMD23E2 User Manual Programming Blocks The following blocks are used to program an Assembled Move. Both of the move types, Blend Move, and Dwell Move, are programmed exactly the same way. The bit configuration used when starting the move determines which type of Assembled Move is run. First Block Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Unused See Note Below 1027 Unused See Note Below 1028 Unused See Note Below 1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below 1032 Unused See Note Below 1033 Unused See Note Below Table R7.17 Assembled Move First Programming Block Unused words are ignored by the ISMD23E2 and can be any value, including parameter values from the previous command. Once the first block is transmitted, the ISMD23E2 responds by setting bits 8 and 9 in Status Word 0. (See Status Word 0 Format starting on page 60.) Once these are set, you can then start transmitting Segment Blocks. Segment Block Register Function Units Range 1024 Command Word 0 0x Command Word 1 See pg Rel. Target Position: Upper 16 bits Combined value between Steps 1027 Rel. Target Position: Lower 16 bits 8,388,607 and +8,388, Programmed Speed: Upper 16 bits Combined value between the configured Steps/Second 1029 Programmed Speed: Lower 16 bits Starting Speed and 2,999, Acceleration Steps/ms/sec 1 to Deceleration Steps/ms/sec 1 to Reserved Must equal zero for compatibility with future releases Acceleration Jerk 0 to 5000 Table R7.18 Assembled Move Segment Programming Block Note that each Segment Block starts with bits 11 and 12 in Command Word 0 set to 1 (0x1800). When the ISMD23E2 sees bit 12 of Command Word 0 set, it will accept the block and reset bit 9 in Status Word 0. When your program sees this bit reset, it must respond by resetting bit 12 of Command Word 0. The ISMD23E2 will respond to this by setting bit 9 in Status Word 0 and the next Segment Block can be written to the Networked Drive. You can write a maximum of sixteen Segment Blocks for each Assembled Move. 84 AMCI BY IDEC CORPORATION

85 REFERENCE 8: CALCULATING MOVE PROFILES Introduction This appendix was added for customers that must program very precise profiles. Understanding this section is not necessary before programming the ISMD23E2 and it can be considered optional. Two different approaches are presented here. The constant acceleration example takes given parameters and calculates the resulting profile. The variable acceleration example starts with a desired speed profile and calculates the required parameters. Units of Measure The equations in this appendix use a unit of measure of steps/second/second (steps/second 2 ) for acceleration and deceleration. However, when programming the ISMD23E2, all acceleration and deceleration values must be programmed in the unit of measure of steps/second/millisecond. To convert from steps/second 2 to steps/millisecond/second, divide the value by This must be done when converting from a value used in the equations to a value programmed into the ISMD23E2. To convert from steps/millisecond/second to steps/second 2, multiply the value by This must be done when converting from the value programmed into the ISMD23E2 to the value used in the equations. Constant Acceleration Equations When you choose to use constant accelerations, the speed of the move will increase linearly towards the Programmed Speed. This is the fastest form of acceleration, resulting in the fastest move between two points at its programmed speed. For the smoothest transition from the starting speed, the starting speed should be equal to the square root of the acceleration in steps/sec 2. For example, if the choose acceleration is 20,000 steps/sec 2, the smoothest transition occurs when the starting speed is 141. ( ,000) SPEED t TIME Programmed Speed ACCELERATION t TIME Figure R8.1 Constant Acceleration Curves Variable Definitions The following variables are used in these equations: V S = Configured Starting Speed of the move V P = Programmed Speed of the move a = Acceleration value. Must be in the units of steps/second 2 d = Deceleration value. Must be in the units of steps/second 2 T A or T D = Time needed to complete the acceleration or deceleration phase of the move D A or D D = Number of Steps needed to complete the acceleration or deceleration phase of the move SPEED Ta Vp Vs TIME Figure R8.1 gives the equations to calculate Time, Distance, and Acceleration values for a constant acceleration move. Acceleration Type T A or T D (Time to Accelerate or Decelerate) D A or D D (Distance to Accelerate or Decelerate) a (Average Acceleration) Linear T A = (V P V S )/a D A = T A *(V P + V S )/2 a = (V 2 P V 2 S )/2D A Table R8.1 Acceleration Equations If the sum of the D A and D D values of the move is less than the total number of steps in the move, your move will have a Trapezoidal profile. If the sum of the D A and D D values of the move is equal to the total number of steps in the move, your move will have a Triangular profile and your move will reach the Programmed Speed before it begins to decelerate. If the sum of the D A and D D values of the move is greater than the total number of steps in the move, your move will have a Triangular profile and it will not reach the Programmed Speed before it begins to decelerate. AMCI By IDEC Corporation 85

86 CALCULATING MOVE PROFILES ISMD23E2 User Manual As an example, lets assume the values in table R8.2 for a move profile. From figure R8.1: Table R8.2 Sample Values Time to accelerate: T A = (V P V S )/a = (100, )/20,000 = seconds Time to decelerate: T D = (V P V S )/d = (100, )/25,000 = seconds Distance to Accelerate: D A = T A *(V P + V S )/2 = * (100, )/2 = 250,002 steps Distance to Decelerate: D D = T D *(V P + V S )/2 = * (100, )/2 = 199,982 steps Total Distance needed to accelerate and decelerate: 250, ,982 = 449,984 steps If a move with the above acceleration, deceleration, starting speed, and programmed speed has a length greater than 449,984 steps, the ISMD23E2 will generate a Trapezoidal profile. If the move is equal to 449,984 steps, the ISMD23E2 will generate a Triangular profile and the unit will output one pulse at the programmed speed. If the move is less than 449,984 steps, the ISMD23E2 will generate a Triangular profile and the programmed speed will not be reached. In the case of a Triangular profile where the programmed speed is not reached, it is fairly easy to calculate the maximum speed (V M ) attained during the move. Because the move is always accelerating or decelerating, the total distance traveled is equal to the sum of D A and D D. D A = T A *(V M + V S )/2 and T A = (V M V S )/a. By substitution: D A = (V M V S )/a * (V M + V S )/2 = (V M 2 V S 2 )/2a. By the same method, D D = (V M 2 V S 2 )/2d. Therefore, total distance traveled = D A + D D = (V M 2 V S 2 )/2a + (V M 2 V S 2 )/2d. In the case where the acceleration and deceleration values are equal, this formula reduces to: D A + D D = (V M 2 V S 2 )/a Name Value ISMD23E2 Parameter Values Acceleration (a) 20,000 steps/sec 2 20 Deceleration (d) 25,000 steps/sec 2 25 Starting Speed (V S ) 141 steps/sec 141 Programmed Speed (V P ) 100,000 steps/sec 100,000 Continuing the example from table R8.2, assume a total travel distance of 300,000 steps V D A + D M V S V D M V = S 2a 2d 300,000 steps 300,000 steps 300,000 steps 2 V M V M = 2 20, , V M 20,000 V M 20,000 = ,000 50, V 2 M 20, V 2 M 20,000 = , , ,000 steps = 2 2 5V M 100,000 4V M 80, , , ,000 (200,000) 2 = 9V M 180,000 60, = 2 V M V M = 81,650 steps/sec Once the maximum speed has been calculated, substitute this value into the time and distance formulas in table R8.1 to calculate time spent and distance traveled while accelerating and decelerating. 86 AMCI BY IDEC CORPORATION

87 ISMD23E2 User Manual CALCULATING MOVE PROFILES Total Time Equations For Trapezoidal Profiles you must first determine the number of counts that you are running at the Programmed Speed. This value, (D P below), is equal to your D A and D D values subtracted from your total travel. You can then calculate your total profile time, (T T below), from the second equation. D P = (Total Number of Steps) (D A + D D ) T T = T A + T D + D P /V P For Triangular Profiles, the total time of travel is simply: T T = T A + T D S-Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the ISMD23E2 uses this value to smoothly change the acceleration value applied during the move. In this case, the speed of the move does not increase linearly, but exponentially, resulting in an S shaped curve. This limits mechanical shocks to the system as the load accelerates. Just as constant acceleration will result in a trapezoidal or triangular speed profile, the Acceleration Jerk parameter will result in a trapezoidal or triangular acceleration phase. In order to keep the Acceleration Jerk parameter value that is programmed into the ISMD23E2 below sixteen bits, the Acceleration Jerk parameter programmed into the drive does not have units of steps/sec 3. The Acceleration Jerk parameter equals ({100 * jerk in steps/sec 3 } / acceleration in steps/sec 2 ). This translates to the jerk property in steps/sec 3 equalling ({Acceleration Jerk parameter/ 100} * acceleration in steps/sec 2 ). With the range of values for the Acceleration Jerk parameter being 1 to 5,000, the jerk value ranges from 0.01a to 50a where a is the acceleration value in steps/sec 2. For example, if the acceleration is programmed to 20,000 steps/sec 2, then the value of the jerk property used by the unit can be programmed to be between 200 steps/sec 3 (0.01*20,000) and 1,000,000 steps/sec 3 (50*20,000). This statement applies to the Deceleration Parameter as well. If the Acceleration and Deceleration parameters are different, the calculated jerk values will also differ. When using variable accelerations, the starting speed does not have to be equal to the square root of the programmed acceleration value for the smoothest transition from stopped to accelerating. Variable acceleration provides smooth transitions at the beginning and end of the acceleration phase. Triangular S-Curve Acceleration Figure R8.2 shows the speed profile of a move during its acceleration phase. The figure shows the desired triangular S-curve acceleration in red along with the equivalent constant acceleration in black. The equivalent constant acceleration is equal to the change in speed divided by the time it takes to achieve this change in speed. This is the value that would have to be used if the Jerk parameter was left at zero. This information is used to calculate the S-curve acceleration and the value of the Jerk Parameter. Speed Programmed Speed s Starting Speed t=0 t Constant Acceleration Triangular S-Curve Acceleration Time s = Programmed Speed Starting Speed ISMD23E2 speed acceleration Acceleration Acceleration = jerk = Jerk Parameter (J) = time time s a a = j = Ja t t j = 100 Figure R8.2 Move Profile Example 100j a AMCI By IDEC Corporation 87

88 CALCULATING MOVE PROFILES ISMD23E2 User Manual Acceleration a s a c t/2 Triangular S-Curve Acceleration Constant Acceleration Figure R8.3 Triangular Acceleration t Time The value of the Acceleration Jerk parameter can now be easily calculated. Speed is equal to acceleration multiplied by the time it is applied. This is shown graphically in figure R8.3 as the area of the gray rectangle. In order for the Triangular S-curve acceleration to reach the same speed in the same amount of time, the area of the triangle must equal the area of the square. Area of a triangle is one half of the base length multiplied by the height. Therefore: a c t = a s t Area of rectangle = Area of triangle 2 a s = 2a c This means that a triangular S-curve acceleration profile requires twice the programmed maximum acceleration as a constant acceleration profile to achieve the same speed in the same amount of time. j a = s j = a t t 2 j Ja s 100 Ja s t J = 2a s t 2a = s Ja j = t 100 = 200a s 200 = Acceleration Jerk parameter = 200 / acceleration time t This value represents the ideal Acceleration Jerk parameter value for a triangular S-curve acceleration. Setting the value lower than this will result in a longer acceleration period, while setting the value above this will result in a trapezoidal S-curve acceleration. When a s = a c The above examples assume that you can increase the programmed acceleration value to keep the acceleration time the same. If your constant acceleration value is the maximum your system will allow, then using S-curve accelerations will lengthen the time needed to accelerate to your desired speed. In the case of Triangular S-curve accelerations where the Acceleration Jerk parameter is optimized at 200/t, the value of t must be twice that of the acceleration period when constant acceleration is used. For example, assume a equivalent constant acceleration of 20,000 steps/sec 2 that is applied for 2.0 seconds. If the acceleration value must remain at 20,000 steps/sec 2, then the acceleration phase will take 4.0 seconds and the Acceleration Jerk parameter should be set to 50 (200/4.0) Trapezoidal S-Curve Acceleration Figure R8.4 shows the speed profile of a move during its acceleration phase. The figure shows the desired trapezoidal S-curve acceleration in red along with the equivalent constant acceleration in blue. The equivalent constant acceleration is equal to the change in speed divided by the time it takes to achieve the change in speed. This is the value that would have to be used if the Acceleration Jerk parameter was left at zero and we will use this information to calculate the S-curve acceleration and the value of the Acceleration Jerk parameter. Speed Programmed Speed s Starting Speed t=0 t Constant Acceleration Trapezoidal S-curve Acceleration Time s = Programmed Speed Starting Speed ISMD23E2 speed acceleration Acceleration Acceleration = jerk = Jerk Parameter (J) = time time s a a = j = Ja t t j = 100 Figure R8.4 Move Profile Example 100j a 88 AMCI BY IDEC CORPORATION

89 ISMD23E2 User Manual CALCULATING MOVE PROFILES In this example, the period of constant acceleration is 50% of the acceleration phase. Acceleration a s a c Trapezoidal S-Curve Deceleration t/2 t/4 3t/4 Figure R8.5 Trapezoidal Acceleration t Constant Deceleration Time Speed is equal to acceleration multiplied by the time it is applied. This is shown graphically in figure R8.5 as the area of the blue rectangle. In order for the Trapezoidal S-curve acceleration to reach the same speed in the same amount of time, the area of the polygon must equal the area of the rectangle. This means that a trapezoidal S-curve acceleration profile that is has a period of constant acceleration equal to half of the total phase time, requires its programmed acceleration value to be 4/3 that of the constant acceleration value used to achieve the same speed in the same amount of time. The value of the Acceleration Jerk parameter can now be easily calculated. a s t a s t = a 2 4 c t Area of polygon = Area of rectangle 2a s t a s t = a c t 3a s t = a c t 4 a s = --a 3 c j a = s j = a t t 4 j = 4a s t Ja s 4a = s Ja j = t 100 Ja s t = 400a s J = t Acceleration Jerk Parameter = 400 / acceleration time This value represents the ideal Acceleration Jerk parameter value for a trapezoidal S-curve acceleration with a constant acceleration for half of the phase. Setting the value lower than this will result in a shorter constant period, while setting the value greater than this will result in a longer constant period. Another example of a trapezoidal S-curve acceleration is when the linear acceleration occurs for one third of the time. In this case, the programmed acceleration must be the constant acceleration value multiplied by 3/2 and the Acceleration Jerk parameter must be set to 300/t. When a s = a c The above examples assume that you can increase the programmed acceleration value to keep the time of the acceleration phase the same. If your constant acceleration value is the maximum your system will allow, then using S-curve accelerations will lengthen the time needed to accelerate to your desired speed. AMCI By IDEC Corporation 89